diff --git a/config/default/Configuration.h b/config/default/Configuration.h index cc975c8f75..03b96e9eed 100644 --- a/config/default/Configuration.h +++ b/config/default/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/3DFabXYZ/Migbot/Configuration.h b/config/examples/3DFabXYZ/Migbot/Configuration.h index 3564ea9540..2aaaf955d2 100644 --- a/config/examples/3DFabXYZ/Migbot/Configuration.h +++ b/config/examples/3DFabXYZ/Migbot/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/3DMatik/XL/Configuration.h b/config/examples/3DMatik/XL/Configuration.h index 8e420c0be4..6ade850ea8 100644 --- a/config/examples/3DMatik/XL/Configuration.h +++ b/config/examples/3DMatik/XL/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/ADIMLab/Gantry v1/Configuration.h b/config/examples/ADIMLab/Gantry v1/Configuration.h index 71f7ef25b2..b84faa474c 100644 --- a/config/examples/ADIMLab/Gantry v1/Configuration.h +++ b/config/examples/ADIMLab/Gantry v1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/ADIMLab/Gantry v2/Configuration.h b/config/examples/ADIMLab/Gantry v2/Configuration.h index 15a794f81e..523402bf8a 100644 --- a/config/examples/ADIMLab/Gantry v2/Configuration.h +++ b/config/examples/ADIMLab/Gantry v2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Alfawise/U20-bltouch/Configuration.h b/config/examples/Alfawise/U20-bltouch/Configuration.h index 5fab499374..983a4ba10e 100644 --- a/config/examples/Alfawise/U20-bltouch/Configuration.h +++ b/config/examples/Alfawise/U20-bltouch/Configuration.h @@ -1188,17 +1188,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Alfawise/U20/Configuration.h b/config/examples/Alfawise/U20/Configuration.h index af7fcb3506..fed093dd1f 100644 --- a/config/examples/Alfawise/U20/Configuration.h +++ b/config/examples/Alfawise/U20/Configuration.h @@ -1189,17 +1189,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AliExpress/CL-260/Configuration.h b/config/examples/AliExpress/CL-260/Configuration.h index c82824b549..606f235af3 100644 --- a/config/examples/AliExpress/CL-260/Configuration.h +++ b/config/examples/AliExpress/CL-260/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AliExpress/UM2pExt/Configuration.h b/config/examples/AliExpress/UM2pExt/Configuration.h index ea6f512232..7fbb7273e4 100644 --- a/config/examples/AliExpress/UM2pExt/Configuration.h +++ b/config/examples/AliExpress/UM2pExt/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/A2/Configuration.h b/config/examples/Anet/A2/Configuration.h index b1febe2c34..f556f3b8cb 100644 --- a/config/examples/Anet/A2/Configuration.h +++ b/config/examples/Anet/A2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/A2plus/Configuration.h b/config/examples/Anet/A2plus/Configuration.h index 528e9d45a5..00ff14d9df 100644 --- a/config/examples/Anet/A2plus/Configuration.h +++ b/config/examples/Anet/A2plus/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/A6/Configuration.h b/config/examples/Anet/A6/Configuration.h index a4b43bb093..44dbd9bba0 100644 --- a/config/examples/Anet/A6/Configuration.h +++ b/config/examples/Anet/A6/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/A8/Configuration.h b/config/examples/Anet/A8/Configuration.h index b800cbcc51..bf3331257a 100644 --- a/config/examples/Anet/A8/Configuration.h +++ b/config/examples/Anet/A8/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/A8plus/Configuration.h b/config/examples/Anet/A8plus/Configuration.h index 13c299d1b7..16d9877678 100644 --- a/config/examples/Anet/A8plus/Configuration.h +++ b/config/examples/Anet/A8plus/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/A9/Configuration.h b/config/examples/Anet/A9/Configuration.h index 43c5e54bdb..70b0ccfdc3 100644 --- a/config/examples/Anet/A9/Configuration.h +++ b/config/examples/Anet/A9/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/E10/Configuration.h b/config/examples/Anet/E10/Configuration.h index 177a81a70b..394aac6c4a 100644 --- a/config/examples/Anet/E10/Configuration.h +++ b/config/examples/Anet/E10/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/E16/BTT SKR 1.3/Configuration.h b/config/examples/Anet/E16/BTT SKR 1.3/Configuration.h index 4453ee8a86..18eff6fc5b 100644 --- a/config/examples/Anet/E16/BTT SKR 1.3/Configuration.h +++ b/config/examples/Anet/E16/BTT SKR 1.3/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/E16/Stock/Configuration.h b/config/examples/Anet/E16/Stock/Configuration.h index 04b52461e6..9aa157e114 100644 --- a/config/examples/Anet/E16/Stock/Configuration.h +++ b/config/examples/Anet/E16/Stock/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET4+/Configuration.h b/config/examples/Anet/ET4+/Configuration.h index d9dd7c0c65..271287828f 100644 --- a/config/examples/Anet/ET4+/Configuration.h +++ b/config/examples/Anet/ET4+/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET4-Pro/Configuration.h b/config/examples/Anet/ET4-Pro/Configuration.h index bbb2f20713..8f0f62c01c 100644 --- a/config/examples/Anet/ET4-Pro/Configuration.h +++ b/config/examples/Anet/ET4-Pro/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET4/Configuration.h b/config/examples/Anet/ET4/Configuration.h index eecf7836c5..762955dc8a 100644 --- a/config/examples/Anet/ET4/Configuration.h +++ b/config/examples/Anet/ET4/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET4X/Configuration.h b/config/examples/Anet/ET4X/Configuration.h index 836cae5fd7..da75a0d630 100644 --- a/config/examples/Anet/ET4X/Configuration.h +++ b/config/examples/Anet/ET4X/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET5-Pro/Configuration.h b/config/examples/Anet/ET5-Pro/Configuration.h index 52a6e8afb1..025bf3a3ae 100644 --- a/config/examples/Anet/ET5-Pro/Configuration.h +++ b/config/examples/Anet/ET5-Pro/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET5/Configuration.h b/config/examples/Anet/ET5/Configuration.h index 3e80b99138..f395c11063 100644 --- a/config/examples/Anet/ET5/Configuration.h +++ b/config/examples/Anet/ET5/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Anet/ET5X/Configuration.h b/config/examples/Anet/ET5X/Configuration.h index f6f75124d8..09e9c7904b 100644 --- a/config/examples/Anet/ET5X/Configuration.h +++ b/config/examples/Anet/ET5X/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/Chiron/Configuration.h b/config/examples/AnyCubic/Chiron/Configuration.h index e9b2a6e281..18ca33d8a8 100644 --- a/config/examples/AnyCubic/Chiron/Configuration.h +++ b/config/examples/AnyCubic/Chiron/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration.h b/config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration.h index ae4103ac40..f1fb58d541 100644 --- a/config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration.h +++ b/config/examples/AnyCubic/Mega Zero 2.0/Anycubic V1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration.h b/config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration.h index dc2800f300..51b7f99732 100644 --- a/config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration.h +++ b/config/examples/AnyCubic/Mega Zero/Anycubic V1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration.h b/config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration.h index f0fdb9f62e..b96b128ba1 100644 --- a/config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration.h +++ b/config/examples/AnyCubic/Mega Zero/BigTreeTech SKR Mini MZ V1.0/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/Vyper/Configuration.h b/config/examples/AnyCubic/Vyper/Configuration.h index 573b523fa7..40d197b4b8 100644 --- a/config/examples/AnyCubic/Vyper/Configuration.h +++ b/config/examples/AnyCubic/Vyper/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration.h b/config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration.h index 5e7ebffa82..f1e06a55e9 100644 --- a/config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration.h +++ b/config/examples/AnyCubic/i3 Mega/Trigorilla AVR/Configuration.h @@ -1158,17 +1158,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration.h b/config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration.h index 708859645b..f8e9bd6da2 100644 --- a/config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration.h +++ b/config/examples/AnyCubic/i3 Mega/Trigorilla Pro STM32/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/AnyCubic/i3/Configuration.h b/config/examples/AnyCubic/i3/Configuration.h index 065f7c31f8..9a65d33cac 100644 --- a/config/examples/AnyCubic/i3/Configuration.h +++ b/config/examples/AnyCubic/i3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/ArmEd/Configuration.h b/config/examples/ArmEd/Configuration.h index a419603e2f..ae82073c5d 100644 --- a/config/examples/ArmEd/Configuration.h +++ b/config/examples/ArmEd/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Genius Pro/Configuration.h b/config/examples/Artillery/Genius Pro/Configuration.h index 54913e781a..2b89f1e3a0 100644 --- a/config/examples/Artillery/Genius Pro/Configuration.h +++ b/config/examples/Artillery/Genius Pro/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Genius/BLTouch/Configuration.h b/config/examples/Artillery/Genius/BLTouch/Configuration.h index f061064e55..c05278b415 100644 --- a/config/examples/Artillery/Genius/BLTouch/Configuration.h +++ b/config/examples/Artillery/Genius/BLTouch/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Genius/V1/Configuration.h b/config/examples/Artillery/Genius/V1/Configuration.h index c38d5e9298..9d5dc2ebc5 100644 --- a/config/examples/Artillery/Genius/V1/Configuration.h +++ b/config/examples/Artillery/Genius/V1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Hornet/Configuration.h b/config/examples/Artillery/Hornet/Configuration.h index 29e2f84ac1..e0dd07a3c5 100644 --- a/config/examples/Artillery/Hornet/Configuration.h +++ b/config/examples/Artillery/Hornet/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration.h b/config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration.h index a8c60739a6..4e91904306 100644 --- a/config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration.h +++ b/config/examples/Artillery/Sidewinder X1/0.9 BMG - E3D V6/Configuration.h @@ -1134,17 +1134,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Sidewinder X1/V1/Configuration.h b/config/examples/Artillery/Sidewinder X1/V1/Configuration.h index c3520f930a..1442c19b35 100644 --- a/config/examples/Artillery/Sidewinder X1/V1/Configuration.h +++ b/config/examples/Artillery/Sidewinder X1/V1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Artillery/Sidewinder X2/Configuration.h b/config/examples/Artillery/Sidewinder X2/Configuration.h index b27d40372a..e99c25834d 100644 --- a/config/examples/Artillery/Sidewinder X2/Configuration.h +++ b/config/examples/Artillery/Sidewinder X2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Azteeg/X5GT/Configuration.h b/config/examples/Azteeg/X5GT/Configuration.h index b67aed12d7..92a4bdc8d4 100644 --- a/config/examples/Azteeg/X5GT/Configuration.h +++ b/config/examples/Azteeg/X5GT/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIBO/TouchX/cyclops/Configuration.h b/config/examples/BIBO/TouchX/cyclops/Configuration.h index 9cf8e93bae..ca56e0abea 100644 --- a/config/examples/BIBO/TouchX/cyclops/Configuration.h +++ b/config/examples/BIBO/TouchX/cyclops/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIBO/TouchX/default - BLTouch/Configuration.h b/config/examples/BIBO/TouchX/default - BLTouch/Configuration.h index 269a0e1dba..d3667ccfa3 100644 --- a/config/examples/BIBO/TouchX/default - BLTouch/Configuration.h +++ b/config/examples/BIBO/TouchX/default - BLTouch/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIBO/TouchX/default/Configuration.h b/config/examples/BIBO/TouchX/default/Configuration.h index fe40aa3c34..dbf4445789 100644 --- a/config/examples/BIBO/TouchX/default/Configuration.h +++ b/config/examples/BIBO/TouchX/default/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/B1 SE Plus/Configuration.h b/config/examples/BIQU/B1 SE Plus/Configuration.h index 8c1c4d3746..fcc74f6399 100644 --- a/config/examples/BIQU/B1 SE Plus/Configuration.h +++ b/config/examples/BIQU/B1 SE Plus/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/B1 SE/Configuration.h b/config/examples/BIQU/B1 SE/Configuration.h index 17569b67d7..b223200f4f 100644 --- a/config/examples/BIQU/B1 SE/Configuration.h +++ b/config/examples/BIQU/B1 SE/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/B1/Configuration.h b/config/examples/BIQU/B1/Configuration.h index d90b053942..e912dc1a16 100644 --- a/config/examples/BIQU/B1/Configuration.h +++ b/config/examples/BIQU/B1/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/BX/all-metal-hotend/Configuration.h b/config/examples/BIQU/BX/all-metal-hotend/Configuration.h index 09aa169413..db4f10d886 100644 --- a/config/examples/BIQU/BX/all-metal-hotend/Configuration.h +++ b/config/examples/BIQU/BX/all-metal-hotend/Configuration.h @@ -1139,17 +1139,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/BX/base/Configuration.h b/config/examples/BIQU/BX/base/Configuration.h index ee0462bdcd..3e47fa5d3b 100644 --- a/config/examples/BIQU/BX/base/Configuration.h +++ b/config/examples/BIQU/BX/base/Configuration.h @@ -1139,17 +1139,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/Hurakan/Configuration.h b/config/examples/BIQU/Hurakan/Configuration.h index d11de1769b..252c6edb37 100644 --- a/config/examples/BIQU/Hurakan/Configuration.h +++ b/config/examples/BIQU/Hurakan/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BIQU/Thunder Standard/Configuration.h b/config/examples/BIQU/Thunder Standard/Configuration.h index 4faab949f6..ae8004040a 100644 --- a/config/examples/BIQU/Thunder Standard/Configuration.h +++ b/config/examples/BIQU/Thunder Standard/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BQ/Hephestos/Configuration.h b/config/examples/BQ/Hephestos/Configuration.h index c272466e40..8d8c6ec334 100644 --- a/config/examples/BQ/Hephestos/Configuration.h +++ b/config/examples/BQ/Hephestos/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BQ/Hephestos_2/Configuration.h b/config/examples/BQ/Hephestos_2/Configuration.h index e8f692aaf9..edd7b372d7 100644 --- a/config/examples/BQ/Hephestos_2/Configuration.h +++ b/config/examples/BQ/Hephestos_2/Configuration.h @@ -1133,17 +1133,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/BQ/WITBOX/Configuration.h b/config/examples/BQ/WITBOX/Configuration.h index 6894d6780f..424c2eb357 100644 --- a/config/examples/BQ/WITBOX/Configuration.h +++ b/config/examples/BQ/WITBOX/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/CNC/miniRambo/Configuration.h b/config/examples/CNC/miniRambo/Configuration.h index 8e6519acaf..cdf7503451 100644 --- a/config/examples/CNC/miniRambo/Configuration.h +++ b/config/examples/CNC/miniRambo/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/CTC/A13/Configuration.h b/config/examples/CTC/A13/Configuration.h index 28f03d4710..ec75bf33d8 100644 --- a/config/examples/CTC/A13/Configuration.h +++ b/config/examples/CTC/A13/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/CTC/Bizer/Configuration.h b/config/examples/CTC/Bizer/Configuration.h index e96c3f7a93..71105d1a27 100644 --- a/config/examples/CTC/Bizer/Configuration.h +++ b/config/examples/CTC/Bizer/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/CTC/i3 2560 Rev A/no probe/Configuration.h b/config/examples/CTC/i3 2560 Rev A/no probe/Configuration.h index 6bcb9ef8ff..e948da7932 100644 --- a/config/examples/CTC/i3 2560 Rev A/no probe/Configuration.h +++ b/config/examples/CTC/i3 2560 Rev A/no probe/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Cartesio/Configuration.h b/config/examples/Cartesio/Configuration.h index 36f05a71d8..56fa4a368e 100644 --- a/config/examples/Cartesio/Configuration.h +++ b/config/examples/Cartesio/Configuration.h @@ -1135,17 +1135,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Copymaster3D/300/Configuration.h b/config/examples/Copymaster3D/300/Configuration.h index 13456d5b60..89ecc39474 100644 --- a/config/examples/Copymaster3D/300/Configuration.h +++ b/config/examples/Copymaster3D/300/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Copymaster3D/400/Configuration.h b/config/examples/Copymaster3D/400/Configuration.h index 2aa91a002e..534d34d9a6 100644 --- a/config/examples/Copymaster3D/400/Configuration.h +++ b/config/examples/Copymaster3D/400/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Copymaster3D/500/Configuration.h b/config/examples/Copymaster3D/500/Configuration.h index 136ebc7451..f1cd549b22 100644 --- a/config/examples/Copymaster3D/500/Configuration.h +++ b/config/examples/Copymaster3D/500/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 Max/Configuration.h b/config/examples/Creality/CR-10 Max/Configuration.h index ec28a1dfb7..970e29ea45 100644 --- a/config/examples/Creality/CR-10 Max/Configuration.h +++ b/config/examples/Creality/CR-10 Max/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration.h index d36562391b..3ec57e3a46 100644 --- a/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 3.0/Configuration.h index 266c452461..a7caf2a532 100644 --- a/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Creality/CR-10 Mini/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 Mini/CrealityV1/Configuration.h b/config/examples/Creality/CR-10 Mini/CrealityV1/Configuration.h index 3446108de0..66e375b774 100644 --- a/config/examples/Creality/CR-10 Mini/CrealityV1/Configuration.h +++ b/config/examples/Creality/CR-10 Mini/CrealityV1/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration.h b/config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration.h index c3e5594722..1d58143ac8 100644 --- a/config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration.h +++ b/config/examples/Creality/CR-10 Mini/MEEB-3DP/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 S4/CrealityV1/Configuration.h b/config/examples/Creality/CR-10 S4/CrealityV1/Configuration.h index 70ed50ca0a..beb6d4e213 100644 --- a/config/examples/Creality/CR-10 S4/CrealityV1/Configuration.h +++ b/config/examples/Creality/CR-10 S4/CrealityV1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration.h b/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration.h index ea4578f1b5..5a9033192d 100644 --- a/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration.h +++ b/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 1.2 with TFT35 E3 V3.0/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration.h b/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration.h index 85643fac89..d04d9a7d0b 100644 --- a/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration.h +++ b/config/examples/Creality/CR-10 S5/BigTreeTech SKR Mini E3 v3/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 S5/CrealityV1/Configuration.h b/config/examples/Creality/CR-10 S5/CrealityV1/Configuration.h index 665a01b5ee..1259368949 100644 --- a/config/examples/Creality/CR-10 S5/CrealityV1/Configuration.h +++ b/config/examples/Creality/CR-10 S5/CrealityV1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 S5/CrealityV2.2 - BLTouch/Configuration.h b/config/examples/Creality/CR-10 S5/CrealityV2.2 - BLTouch/Configuration.h index 5dbf7237f0..bc2462b29d 100644 --- a/config/examples/Creality/CR-10 S5/CrealityV2.2 - BLTouch/Configuration.h +++ b/config/examples/Creality/CR-10 S5/CrealityV2.2 - BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 S5/CrealityV427 - BLTouch/Configuration.h b/config/examples/Creality/CR-10 S5/CrealityV427 - BLTouch/Configuration.h index caf37de4d6..8ad9bec225 100644 --- a/config/examples/Creality/CR-10 S5/CrealityV427 - BLTouch/Configuration.h +++ b/config/examples/Creality/CR-10 S5/CrealityV427 - BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 V2/Configuration.h b/config/examples/Creality/CR-10 V2/Configuration.h index 3ff88f0b3a..78a8c738a5 100644 --- a/config/examples/Creality/CR-10 V2/Configuration.h +++ b/config/examples/Creality/CR-10 V2/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 V3/BigTreeTech SKR Mini E3 v3/Configuration.h b/config/examples/Creality/CR-10 V3/BigTreeTech SKR Mini E3 v3/Configuration.h index 7e952b4ff7..67e8c8bf3c 100644 --- a/config/examples/Creality/CR-10 V3/BigTreeTech SKR Mini E3 v3/Configuration.h +++ b/config/examples/Creality/CR-10 V3/BigTreeTech SKR Mini E3 v3/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10 V3/Stock/Configuration.h b/config/examples/Creality/CR-10 V3/Stock/Configuration.h index 00a1b4b89c..71a3dea91e 100644 --- a/config/examples/Creality/CR-10 V3/Stock/Configuration.h +++ b/config/examples/Creality/CR-10 V3/Stock/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration.h index 703e22da62..127e9bc0e5 100644 --- a/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 3.0/Configuration.h index f039416b27..228793751d 100644 --- a/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Creality/CR-10/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10/CrealityV1/Configuration.h b/config/examples/Creality/CR-10/CrealityV1/Configuration.h index b62f632c0d..9360e71a7e 100644 --- a/config/examples/Creality/CR-10/CrealityV1/Configuration.h +++ b/config/examples/Creality/CR-10/CrealityV1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S Pro/Configuration.h b/config/examples/Creality/CR-10S Pro/Configuration.h index 99168f7b7f..76652894bb 100644 --- a/config/examples/Creality/CR-10S Pro/Configuration.h +++ b/config/examples/Creality/CR-10S Pro/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration.h b/config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration.h index a0c644192f..d6a7927d46 100644 --- a/config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration.h +++ b/config/examples/Creality/CR-10S/BigTreeTech SKR 1.4 Turbo TMC2209/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration.h b/config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration.h index 73f8631eb8..8a0c96be31 100644 --- a/config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration.h +++ b/config/examples/Creality/CR-10S/BigTreeTech SKR 2.0 TMC2209/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration.h index b182c42af0..0c13efaae2 100644 --- a/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 3.0/Configuration.h index 7b73886323..7bb6906bab 100644 --- a/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Creality/CR-10S/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration.h b/config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration.h index 6838648d7b..ca4c4aac8d 100644 --- a/config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration.h +++ b/config/examples/Creality/CR-10S/BigTreeTech SKR Pro v1.2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/CrealityV1 - BLTouch/Configuration.h b/config/examples/Creality/CR-10S/CrealityV1 - BLTouch/Configuration.h index 45bc6a48a1..faf0e5c3bc 100644 --- a/config/examples/Creality/CR-10S/CrealityV1 - BLTouch/Configuration.h +++ b/config/examples/Creality/CR-10S/CrealityV1 - BLTouch/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-10S/CrealityV1/Configuration.h b/config/examples/Creality/CR-10S/CrealityV1/Configuration.h index f0b25de882..058248a1a7 100644 --- a/config/examples/Creality/CR-10S/CrealityV1/Configuration.h +++ b/config/examples/Creality/CR-10S/CrealityV1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-20 Pro/Configuration.h b/config/examples/Creality/CR-20 Pro/Configuration.h index 69807b80c4..09071c518d 100644 --- a/config/examples/Creality/CR-20 Pro/Configuration.h +++ b/config/examples/Creality/CR-20 Pro/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration.h b/config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration.h index 3fb4eff462..0ef0006035 100644 --- a/config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration.h +++ b/config/examples/Creality/CR-20/RepRapWorld Minitronics20/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-20/Stock/Configuration.h b/config/examples/Creality/CR-20/Stock/Configuration.h index 291bf934b5..2827c7b35a 100644 --- a/config/examples/Creality/CR-20/Stock/Configuration.h +++ b/config/examples/Creality/CR-20/Stock/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-30 PrintMill/Configuration.h b/config/examples/Creality/CR-30 PrintMill/Configuration.h index bdf69d5977..e8da9c9cee 100644 --- a/config/examples/Creality/CR-30 PrintMill/Configuration.h +++ b/config/examples/Creality/CR-30 PrintMill/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-6 SE/Configuration.h b/config/examples/Creality/CR-6 SE/Configuration.h index f62ef66663..241c8f8ace 100644 --- a/config/examples/Creality/CR-6 SE/Configuration.h +++ b/config/examples/Creality/CR-6 SE/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/CR-8/Configuration.h b/config/examples/Creality/CR-8/Configuration.h index 1479c0258f..5684929fbb 100644 --- a/config/examples/Creality/CR-8/Configuration.h +++ b/config/examples/Creality/CR-8/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-2 Pro/CrealityV24S4/Configuration.h b/config/examples/Creality/Ender-2 Pro/CrealityV24S4/Configuration.h index b2b513c781..7af176ab6e 100644 --- a/config/examples/Creality/Ender-2 Pro/CrealityV24S4/Configuration.h +++ b/config/examples/Creality/Ender-2 Pro/CrealityV24S4/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration.h b/config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration.h index 40ab82b293..e88219ecd9 100644 --- a/config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration.h +++ b/config/examples/Creality/Ender-2 Pro/CrealityV423/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-2/Configuration.h b/config/examples/Creality/Ender-2/Configuration.h index 4ae2fdf877..75f23fa7da 100644 --- a/config/examples/Creality/Ender-2/Configuration.h +++ b/config/examples/Creality/Ender-2/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Max Neo/Configuration.h b/config/examples/Creality/Ender-3 Max Neo/Configuration.h index 246a1625af..2a94686e6c 100644 --- a/config/examples/Creality/Ender-3 Max Neo/Configuration.h +++ b/config/examples/Creality/Ender-3 Max Neo/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Max/Configuration.h b/config/examples/Creality/Ender-3 Max/Configuration.h index a6d2cc75a1..514dabc653 100644 --- a/config/examples/Creality/Ender-3 Max/Configuration.h +++ b/config/examples/Creality/Ender-3 Max/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Neo/Configuration.h b/config/examples/Creality/Ender-3 Neo/Configuration.h index 226e10dce5..79112155df 100644 --- a/config/examples/Creality/Ender-3 Neo/Configuration.h +++ b/config/examples/Creality/Ender-3 Neo/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR 1.4 Turbo/Configuration.h b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR 1.4 Turbo/Configuration.h index acdaff493a..fc31ccfb34 100644 --- a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR 1.4 Turbo/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR 1.4 Turbo/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.0/Configuration.h b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.0/Configuration.h index 4144130d0e..b9d8abc9c5 100644 --- a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.0/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.0/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h index a36387968e..c1907a95ae 100644 --- a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 2.0/Configuration.h index 11170302f8..e1874441f7 100644 --- a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 3.0/Configuration.h index d632adac98..8fe268a7fc 100644 --- a/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/Creality free-runs/Configuration.h b/config/examples/Creality/Ender-3 Pro/Creality free-runs/Configuration.h index fe532ae851..d2f7c74282 100644 --- a/config/examples/Creality/Ender-3 Pro/Creality free-runs/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/Creality free-runs/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/CrealityV1/Configuration.h b/config/examples/Creality/Ender-3 Pro/CrealityV1/Configuration.h index 8ca1fa4b96..883adb2621 100644 --- a/config/examples/Creality/Ender-3 Pro/CrealityV1/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/CrealityV1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/CrealityV422/Configuration.h b/config/examples/Creality/Ender-3 Pro/CrealityV422/Configuration.h index 1615d60a84..0be65d4c4b 100644 --- a/config/examples/Creality/Ender-3 Pro/CrealityV422/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/CrealityV422/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/CrealityV427 - BLTouch/Configuration.h b/config/examples/Creality/Ender-3 Pro/CrealityV427 - BLTouch/Configuration.h index 11d2bc3be0..617d968dda 100644 --- a/config/examples/Creality/Ender-3 Pro/CrealityV427 - BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/CrealityV427 - BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 Pro/CrealityV427/Configuration.h b/config/examples/Creality/Ender-3 Pro/CrealityV427/Configuration.h index fa5aacbf08..6d4a318133 100644 --- a/config/examples/Creality/Ender-3 Pro/CrealityV427/Configuration.h +++ b/config/examples/Creality/Ender-3 Pro/CrealityV427/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 S1 Plus/Configuration.h b/config/examples/Creality/Ender-3 S1 Plus/Configuration.h index bd9f33a80e..b2a5d3f79c 100644 --- a/config/examples/Creality/Ender-3 S1 Plus/Configuration.h +++ b/config/examples/Creality/Ender-3 S1 Plus/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 S1 Pro/Configuration.h b/config/examples/Creality/Ender-3 S1 Pro/Configuration.h index f6224766b9..32134ffdc8 100644 --- a/config/examples/Creality/Ender-3 S1 Pro/Configuration.h +++ b/config/examples/Creality/Ender-3 S1 Pro/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 S1/STM32F1/Configuration.h b/config/examples/Creality/Ender-3 S1/STM32F1/Configuration.h index 325b61662d..b68aaf6c3d 100644 --- a/config/examples/Creality/Ender-3 S1/STM32F1/Configuration.h +++ b/config/examples/Creality/Ender-3 S1/STM32F1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 S1/STM32F4/Configuration.h b/config/examples/Creality/Ender-3 S1/STM32F4/Configuration.h index 81802f4d71..f142535a3c 100644 --- a/config/examples/Creality/Ender-3 S1/STM32F4/Configuration.h +++ b/config/examples/Creality/Ender-3 S1/STM32F4/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2 Neo/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Creality/Ender-3 V2 Neo/BigTreeTech SKR Mini E3 3.0/Configuration.h index f3f5786178..4ff85c64c6 100644 --- a/config/examples/Creality/Ender-3 V2 Neo/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Creality/Ender-3 V2 Neo/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2 Neo/CrealityV422/Configuration.h b/config/examples/Creality/Ender-3 V2 Neo/CrealityV422/Configuration.h index e20f39d059..9498a4c5f0 100644 --- a/config/examples/Creality/Ender-3 V2 Neo/CrealityV422/Configuration.h +++ b/config/examples/Creality/Ender-3 V2 Neo/CrealityV422/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/CrealityUI/Configuration.h b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/CrealityUI/Configuration.h index edfdd967ff..671f2d5718 100644 --- a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/CrealityUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/CrealityUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/MarlinUI/Configuration.h b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/MarlinUI/Configuration.h index 4627b802c0..e864a5eb78 100644 --- a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/MarlinUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR E3 Turbo/MarlinUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/CrealityUI/Configuration.h b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/CrealityUI/Configuration.h index 696989c999..1ba54dbb9e 100644 --- a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/CrealityUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/CrealityUI/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/MarlinUI/Configuration.h b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/MarlinUI/Configuration.h index ca48b839ae..64d853a84d 100644 --- a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/MarlinUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 2.0/MarlinUI/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/CrealityUI/Configuration.h b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/CrealityUI/Configuration.h index 1d3cc7bfdc..5e208b08cd 100644 --- a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/CrealityUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/CrealityUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/MarlinUI/Configuration.h b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/MarlinUI/Configuration.h index aa2674d64d..a8f75975aa 100644 --- a/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/MarlinUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/BigTreeTech SKR Mini E3 3.0/MarlinUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/CrealityV422/CrealityUI/Configuration.h b/config/examples/Creality/Ender-3 V2/CrealityV422/CrealityUI/Configuration.h index f37eb1244a..c91fb3592d 100644 --- a/config/examples/Creality/Ender-3 V2/CrealityV422/CrealityUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/CrealityV422/CrealityUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/CrealityV422/MarlinUI/Configuration.h b/config/examples/Creality/Ender-3 V2/CrealityV422/MarlinUI/Configuration.h index 2a9b9068e0..d408b3f02d 100644 --- a/config/examples/Creality/Ender-3 V2/CrealityV422/MarlinUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/CrealityV422/MarlinUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/CrealityV427/CrealityUI/Configuration.h b/config/examples/Creality/Ender-3 V2/CrealityV427/CrealityUI/Configuration.h index 4d207fd148..7247052b5f 100644 --- a/config/examples/Creality/Ender-3 V2/CrealityV427/CrealityUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/CrealityV427/CrealityUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3 V2/CrealityV427/MarlinUI/Configuration.h b/config/examples/Creality/Ender-3 V2/CrealityV427/MarlinUI/Configuration.h index 754d6a765d..8e32b99ff5 100644 --- a/config/examples/Creality/Ender-3 V2/CrealityV427/MarlinUI/Configuration.h +++ b/config/examples/Creality/Ender-3 V2/CrealityV427/MarlinUI/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech E3 RRF/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech E3 RRF/Configuration.h index 5be4028335..83f2eb1460 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech E3 RRF/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech E3 RRF/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech Manta E3 EZ/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech Manta E3 EZ/Configuration.h index f59ba32442..7820163812 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech Manta E3 EZ/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech Manta E3 EZ/Configuration.h @@ -1116,17 +1116,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR 1.4/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR 1.4/Configuration.h index d931fd0831..f84ae6435b 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR 1.4/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR 1.4/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/2-into-1 Hotend/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/2-into-1 Hotend/Configuration.h index 04e9a9c3c9..04e6f1bbc8 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/2-into-1 Hotend/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/2-into-1 Hotend/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Dual Z/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Dual Z/Configuration.h index f4301c57cf..49e11ae845 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Dual Z/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Dual Z/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Single Extruder/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Single Extruder/Configuration.h index 33724a515c..bbeec6b34b 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Single Extruder/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR E3 Turbo/Single Extruder/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR E3-DIP V1.1/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR E3-DIP V1.1/Configuration.h index bba62c3878..92ee0d9fda 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR E3-DIP V1.1/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR E3-DIP V1.1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.0/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.0/Configuration.h index 37cb5bb19b..e49604b453 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.0/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.2/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.2/Configuration.h index d0f1528022..00ea5f12b8 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.2/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 1.2/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 2.0/Configuration.h index c528cf5f8a..ea3ce81154 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 3.0/Configuration.h index 2098619476..2a83029045 100644 --- a/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Creality/Ender-3/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/Creality free-runs/Configuration.h b/config/examples/Creality/Ender-3/Creality free-runs/Configuration.h index 86d7089244..82d2cac0a7 100644 --- a/config/examples/Creality/Ender-3/Creality free-runs/Configuration.h +++ b/config/examples/Creality/Ender-3/Creality free-runs/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/CrealityV1/Configuration.h b/config/examples/Creality/Ender-3/CrealityV1/Configuration.h index 379d871778..1f63daae20 100644 --- a/config/examples/Creality/Ender-3/CrealityV1/Configuration.h +++ b/config/examples/Creality/Ender-3/CrealityV1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/CrealityV422/Configuration.h b/config/examples/Creality/Ender-3/CrealityV422/Configuration.h index ee449ddc2d..971db4120a 100644 --- a/config/examples/Creality/Ender-3/CrealityV422/Configuration.h +++ b/config/examples/Creality/Ender-3/CrealityV422/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/CrealityV427/Configuration.h b/config/examples/Creality/Ender-3/CrealityV427/Configuration.h index cd4f70b870..8a90523caf 100644 --- a/config/examples/Creality/Ender-3/CrealityV427/Configuration.h +++ b/config/examples/Creality/Ender-3/CrealityV427/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/BLTouch/Configuration.h b/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/BLTouch/Configuration.h index 7a996cbc5d..c0f7841a6f 100644 --- a/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/base/Configuration.h b/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/base/Configuration.h index 07d0add71a..ac36601566 100644 --- a/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/base/Configuration.h +++ b/config/examples/Creality/Ender-3/FYSETC Cheetah 1.2/base/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/FYSETC Cheetah 2.0/Configuration.h b/config/examples/Creality/Ender-3/FYSETC Cheetah 2.0/Configuration.h index 947a730671..4d35c08174 100644 --- a/config/examples/Creality/Ender-3/FYSETC Cheetah 2.0/Configuration.h +++ b/config/examples/Creality/Ender-3/FYSETC Cheetah 2.0/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/FYSETC Cheetah/BLTouch/Configuration.h b/config/examples/Creality/Ender-3/FYSETC Cheetah/BLTouch/Configuration.h index df2b67e97e..039e716693 100644 --- a/config/examples/Creality/Ender-3/FYSETC Cheetah/BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-3/FYSETC Cheetah/BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/FYSETC Cheetah/base/Configuration.h b/config/examples/Creality/Ender-3/FYSETC Cheetah/base/Configuration.h index 6dd8913e08..a39a6c4e06 100644 --- a/config/examples/Creality/Ender-3/FYSETC Cheetah/base/Configuration.h +++ b/config/examples/Creality/Ender-3/FYSETC Cheetah/base/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/MEEB-3DP/Configuration.h b/config/examples/Creality/Ender-3/MEEB-3DP/Configuration.h index 6f036c4b8a..0f76d9a324 100644 --- a/config/examples/Creality/Ender-3/MEEB-3DP/Configuration.h +++ b/config/examples/Creality/Ender-3/MEEB-3DP/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/MKS Robin E3/V1.0/Configuration.h b/config/examples/Creality/Ender-3/MKS Robin E3/V1.0/Configuration.h index acd36726b4..4fdb32304a 100644 --- a/config/examples/Creality/Ender-3/MKS Robin E3/V1.0/Configuration.h +++ b/config/examples/Creality/Ender-3/MKS Robin E3/V1.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/MKS Robin E3/V1.1/Configuration.h b/config/examples/Creality/Ender-3/MKS Robin E3/V1.1/Configuration.h index 3b3ea83912..abb115152c 100644 --- a/config/examples/Creality/Ender-3/MKS Robin E3/V1.1/Configuration.h +++ b/config/examples/Creality/Ender-3/MKS Robin E3/V1.1/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/MKS Robin E3P/Configuration.h b/config/examples/Creality/Ender-3/MKS Robin E3P/Configuration.h index 8454c73c84..557808dea0 100644 --- a/config/examples/Creality/Ender-3/MKS Robin E3P/Configuration.h +++ b/config/examples/Creality/Ender-3/MKS Robin E3P/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-3/TH3D EZBoard Lite V2/Configuration.h b/config/examples/Creality/Ender-3/TH3D EZBoard Lite V2/Configuration.h index 3a08a934b8..0a8ab4097e 100644 --- a/config/examples/Creality/Ender-3/TH3D EZBoard Lite V2/Configuration.h +++ b/config/examples/Creality/Ender-3/TH3D EZBoard Lite V2/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-4/Configuration.h b/config/examples/Creality/Ender-4/Configuration.h index 772b155818..01c4814575 100644 --- a/config/examples/Creality/Ender-4/Configuration.h +++ b/config/examples/Creality/Ender-4/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Plus/BigTreeTech SKR 3/Configuration.h b/config/examples/Creality/Ender-5 Plus/BigTreeTech SKR 3/Configuration.h index 73f1fc3e33..6ce6993daf 100644 --- a/config/examples/Creality/Ender-5 Plus/BigTreeTech SKR 3/Configuration.h +++ b/config/examples/Creality/Ender-5 Plus/BigTreeTech SKR 3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Plus/CrealityV1 (ORIGIN UI)/Configuration.h b/config/examples/Creality/Ender-5 Plus/CrealityV1 (ORIGIN UI)/Configuration.h index 8fb5a7e4d6..c87ffae79b 100644 --- a/config/examples/Creality/Ender-5 Plus/CrealityV1 (ORIGIN UI)/Configuration.h +++ b/config/examples/Creality/Ender-5 Plus/CrealityV1 (ORIGIN UI)/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Plus/CrealityV1 (RELOADED UI)/Configuration.h b/config/examples/Creality/Ender-5 Plus/CrealityV1 (RELOADED UI)/Configuration.h index b7b9724dd1..10d4529e49 100644 --- a/config/examples/Creality/Ender-5 Plus/CrealityV1 (RELOADED UI)/Configuration.h +++ b/config/examples/Creality/Ender-5 Plus/CrealityV1 (RELOADED UI)/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR E3 Turbo/Configuration.h b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR E3 Turbo/Configuration.h index 217eaf0bb9..18ed8f24b7 100644 --- a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR E3 Turbo/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR E3 Turbo/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h index 6738fbcd42..081ee7b00d 100644 --- a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 1.2/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 2.0 with BLTouch/Configuration.h b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 2.0 with BLTouch/Configuration.h index 87ddc6c4dd..4025d16b29 100644 --- a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 2.0 with BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 2.0 with BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 3.0 with BLTouch-HighTemp/Configuration.h b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 3.0 with BLTouch-HighTemp/Configuration.h index 9751d82912..3fdac73683 100644 --- a/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 3.0 with BLTouch-HighTemp/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/BigTreeTech SKR Mini E3 3.0 with BLTouch-HighTemp/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/CrealityV1/Configuration.h b/config/examples/Creality/Ender-5 Pro/CrealityV1/Configuration.h index f9d6a03215..91a8215be0 100644 --- a/config/examples/Creality/Ender-5 Pro/CrealityV1/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/CrealityV1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/CrealityV422/Configuration.h b/config/examples/Creality/Ender-5 Pro/CrealityV422/Configuration.h index 2253941852..e61b1910d5 100644 --- a/config/examples/Creality/Ender-5 Pro/CrealityV422/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/CrealityV422/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 Pro/CrealityV427/Configuration.h b/config/examples/Creality/Ender-5 Pro/CrealityV427/Configuration.h index 0fb7ace978..e7565c749f 100644 --- a/config/examples/Creality/Ender-5 Pro/CrealityV427/Configuration.h +++ b/config/examples/Creality/Ender-5 Pro/CrealityV427/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5 S1/Configuration.h b/config/examples/Creality/Ender-5 S1/Configuration.h index 465138bcef..465e31ec96 100644 --- a/config/examples/Creality/Ender-5 S1/Configuration.h +++ b/config/examples/Creality/Ender-5 S1/Configuration.h @@ -1136,17 +1136,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo with BLTouch/Configuration.h b/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo with BLTouch/Configuration.h index 6bcd2a2d1f..f02208fd05 100644 --- a/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo with BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo with BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo/Configuration.h b/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo/Configuration.h index d9170f7765..d4587e7321 100644 --- a/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo/Configuration.h +++ b/config/examples/Creality/Ender-5/BigTreeTech SKR E3 Turbo/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 1.2/Configuration.h b/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 1.2/Configuration.h index e6c71d039d..1d94a8db92 100644 --- a/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 1.2/Configuration.h +++ b/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 1.2/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 2.0/Configuration.h index 19386d2396..beadedd805 100644 --- a/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 3.0 with BLTouch/Configuration.h b/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 3.0 with BLTouch/Configuration.h index af2f611e29..287525557a 100644 --- a/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 3.0 with BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-5/BigTreeTech SKR Mini E3 3.0 with BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/Creality free-runs/Configuration.h b/config/examples/Creality/Ender-5/Creality free-runs/Configuration.h index 05ab9107bb..027e5f91fe 100644 --- a/config/examples/Creality/Ender-5/Creality free-runs/Configuration.h +++ b/config/examples/Creality/Ender-5/Creality free-runs/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/CrealityV1/Configuration.h b/config/examples/Creality/Ender-5/CrealityV1/Configuration.h index 81f020ef13..d3fbf54de3 100644 --- a/config/examples/Creality/Ender-5/CrealityV1/Configuration.h +++ b/config/examples/Creality/Ender-5/CrealityV1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/CrealityV427 with BLTouch/Configuration.h b/config/examples/Creality/Ender-5/CrealityV427 with BLTouch/Configuration.h index 5bfa86e8e8..ebfa124656 100644 --- a/config/examples/Creality/Ender-5/CrealityV427 with BLTouch/Configuration.h +++ b/config/examples/Creality/Ender-5/CrealityV427 with BLTouch/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-5/CrealityV427/Configuration.h b/config/examples/Creality/Ender-5/CrealityV427/Configuration.h index 7be6ff35cc..518f019916 100644 --- a/config/examples/Creality/Ender-5/CrealityV427/Configuration.h +++ b/config/examples/Creality/Ender-5/CrealityV427/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Creality/Ender-6/Configuration.h b/config/examples/Creality/Ender-6/Configuration.h index 3b90e2e00e..5d8cf66baa 100644 --- a/config/examples/Creality/Ender-6/Configuration.h +++ b/config/examples/Creality/Ender-6/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Dagoma/Disco Ultimate/Configuration.h b/config/examples/Dagoma/Disco Ultimate/Configuration.h index 3762044752..e72e80a4f9 100644 --- a/config/examples/Dagoma/Disco Ultimate/Configuration.h +++ b/config/examples/Dagoma/Disco Ultimate/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Daycom/3DP-100/Configuration.h b/config/examples/Daycom/3DP-100/Configuration.h index 5cd5246b5b..822e3090b8 100644 --- a/config/examples/Daycom/3DP-100/Configuration.h +++ b/config/examples/Daycom/3DP-100/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/E3D/BigBox Dual/Configuration.h b/config/examples/E3D/BigBox Dual/Configuration.h index 393233b685..0c629bbebf 100644 --- a/config/examples/E3D/BigBox Dual/Configuration.h +++ b/config/examples/E3D/BigBox Dual/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/EXP3D/Imprimante multifonction/Configuration.h b/config/examples/EXP3D/Imprimante multifonction/Configuration.h index 3bd8547960..81f2bcb9fd 100644 --- a/config/examples/EXP3D/Imprimante multifonction/Configuration.h +++ b/config/examples/EXP3D/Imprimante multifonction/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/EasyThreeD/ET4000PLUS/Configuration.h b/config/examples/EasyThreeD/ET4000PLUS/Configuration.h index 5b299bbbd1..1bc8e2490e 100644 --- a/config/examples/EasyThreeD/ET4000PLUS/Configuration.h +++ b/config/examples/EasyThreeD/ET4000PLUS/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Eazao/Zero/Configuration.h b/config/examples/Eazao/Zero/Configuration.h index a5f1ac33b6..27607694c1 100644 --- a/config/examples/Eazao/Zero/Configuration.h +++ b/config/examples/Eazao/Zero/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Einstart-S/Configuration.h b/config/examples/Einstart-S/Configuration.h index 9f9e4fffbd..ae681bb0be 100644 --- a/config/examples/Einstart-S/Configuration.h +++ b/config/examples/Einstart-S/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Elegoo/Neptune 2/Configuration.h b/config/examples/Elegoo/Neptune 2/Configuration.h index e286303981..7d04dfa524 100644 --- a/config/examples/Elegoo/Neptune 2/Configuration.h +++ b/config/examples/Elegoo/Neptune 2/Configuration.h @@ -1155,17 +1155,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Eryone/Thinker SE/Configuration.h b/config/examples/Eryone/Thinker SE/Configuration.h index 7834911178..2fde37ac60 100644 --- a/config/examples/Eryone/Thinker SE/Configuration.h +++ b/config/examples/Eryone/Thinker SE/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Eryone/Thinker V2/Configuration.h b/config/examples/Eryone/Thinker V2/Configuration.h index 0388c60484..31e4de1fcc 100644 --- a/config/examples/Eryone/Thinker V2/Configuration.h +++ b/config/examples/Eryone/Thinker V2/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FYSETC/AIO_II/Configuration.h b/config/examples/FYSETC/AIO_II/Configuration.h index 78ff4817d4..3dda9ff35e 100644 --- a/config/examples/FYSETC/AIO_II/Configuration.h +++ b/config/examples/FYSETC/AIO_II/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FYSETC/F6_13/Configuration.h b/config/examples/FYSETC/F6_13/Configuration.h index 8bb51dcf3a..3efcb3d5ad 100644 --- a/config/examples/FYSETC/F6_13/Configuration.h +++ b/config/examples/FYSETC/F6_13/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FYSETC/S6/Configuration.h b/config/examples/FYSETC/S6/Configuration.h index ccecba812f..947288964f 100644 --- a/config/examples/FYSETC/S6/Configuration.h +++ b/config/examples/FYSETC/S6/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Felix/DUAL/Configuration.h b/config/examples/Felix/DUAL/Configuration.h index fbbbb0e11e..a9a415935e 100644 --- a/config/examples/Felix/DUAL/Configuration.h +++ b/config/examples/Felix/DUAL/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Felix/Single/Configuration.h b/config/examples/Felix/Single/Configuration.h index 1cd34b633a..07877a34b2 100644 --- a/config/examples/Felix/Single/Configuration.h +++ b/config/examples/Felix/Single/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FlashForge/Creator 2X/Configuration.h b/config/examples/FlashForge/Creator 2X/Configuration.h index f64828873d..0380275771 100644 --- a/config/examples/FlashForge/Creator 2X/Configuration.h +++ b/config/examples/FlashForge/Creator 2X/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FlashForge/CreatorPro/Configuration.h b/config/examples/FlashForge/CreatorPro/Configuration.h index 935f345e46..02d542388b 100644 --- a/config/examples/FlashForge/CreatorPro/Configuration.h +++ b/config/examples/FlashForge/CreatorPro/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FlyingBear/FlyingBearGhost_v3/Configuration.h b/config/examples/FlyingBear/FlyingBearGhost_v3/Configuration.h index bd11550916..89f4b4d1c9 100644 --- a/config/examples/FlyingBear/FlyingBearGhost_v3/Configuration.h +++ b/config/examples/FlyingBear/FlyingBearGhost_v3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FlyingBear/P902/Configuration.h b/config/examples/FlyingBear/P902/Configuration.h index 590446b832..de393413f9 100644 --- a/config/examples/FlyingBear/P902/Configuration.h +++ b/config/examples/FlyingBear/P902/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FlyingBear/P905H/Configuration.h b/config/examples/FlyingBear/P905H/Configuration.h index ebb301ad73..289bf50257 100644 --- a/config/examples/FlyingBear/P905H/Configuration.h +++ b/config/examples/FlyingBear/P905H/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FoamCutter/generic/Configuration.h b/config/examples/FoamCutter/generic/Configuration.h index c3551053c0..6f0f732daf 100644 --- a/config/examples/FoamCutter/generic/Configuration.h +++ b/config/examples/FoamCutter/generic/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FoamCutter/rcKeith/Configuration.h b/config/examples/FoamCutter/rcKeith/Configuration.h index 14eb092041..c7de4241dd 100644 --- a/config/examples/FoamCutter/rcKeith/Configuration.h +++ b/config/examples/FoamCutter/rcKeith/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FolgerTech/FT-5 R2/Configuration.h b/config/examples/FolgerTech/FT-5 R2/Configuration.h index cf24c103bf..80b2777a54 100644 --- a/config/examples/FolgerTech/FT-5 R2/Configuration.h +++ b/config/examples/FolgerTech/FT-5 R2/Configuration.h @@ -1116,17 +1116,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/FolgerTech/i3-2020/Configuration.h b/config/examples/FolgerTech/i3-2020/Configuration.h index 6242e449f4..455ae9cf96 100644 --- a/config/examples/FolgerTech/i3-2020/Configuration.h +++ b/config/examples/FolgerTech/i3-2020/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Formbot/Raptor/Configuration.h b/config/examples/Formbot/Raptor/Configuration.h index ac5819fa94..c4f7b11586 100644 --- a/config/examples/Formbot/Raptor/Configuration.h +++ b/config/examples/Formbot/Raptor/Configuration.h @@ -1178,17 +1178,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10/Configuration.h b/config/examples/Geeetech/A10/Configuration.h index cff263ea45..ab135672bb 100644 --- a/config/examples/Geeetech/A10/Configuration.h +++ b/config/examples/Geeetech/A10/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10D/Configuration.h b/config/examples/Geeetech/A10D/Configuration.h index 46a002c6dc..60b8a6bc35 100644 --- a/config/examples/Geeetech/A10D/Configuration.h +++ b/config/examples/Geeetech/A10D/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10M/Stock LCD/Configuration.h b/config/examples/Geeetech/A10M/Stock LCD/Configuration.h index 878f3968fc..eb9b1d6858 100644 --- a/config/examples/Geeetech/A10M/Stock LCD/Configuration.h +++ b/config/examples/Geeetech/A10M/Stock LCD/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10M/YHCB2004_V4.1/Configuration.h b/config/examples/Geeetech/A10M/YHCB2004_V4.1/Configuration.h index 5542fb45d1..db88c7b3e5 100644 --- a/config/examples/Geeetech/A10M/YHCB2004_V4.1/Configuration.h +++ b/config/examples/Geeetech/A10M/YHCB2004_V4.1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10PRO/Configuration.h b/config/examples/Geeetech/A10PRO/Configuration.h index 5abd4b03ed..46467cb687 100644 --- a/config/examples/Geeetech/A10PRO/Configuration.h +++ b/config/examples/Geeetech/A10PRO/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10T/Stock LCD/Configuration.h b/config/examples/Geeetech/A10T/Stock LCD/Configuration.h index 433c12e677..0f4a67e943 100644 --- a/config/examples/Geeetech/A10T/Stock LCD/Configuration.h +++ b/config/examples/Geeetech/A10T/Stock LCD/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A10T/YHCB2004_V4.1/Configuration.h b/config/examples/Geeetech/A10T/YHCB2004_V4.1/Configuration.h index 9939e28310..9d88035454 100644 --- a/config/examples/Geeetech/A10T/YHCB2004_V4.1/Configuration.h +++ b/config/examples/Geeetech/A10T/YHCB2004_V4.1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A20/Configuration.h b/config/examples/Geeetech/A20/Configuration.h index e6acc7a676..d76db6a817 100644 --- a/config/examples/Geeetech/A20/Configuration.h +++ b/config/examples/Geeetech/A20/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A20M/Configuration.h b/config/examples/Geeetech/A20M/Configuration.h index bb532c51be..941f5342d3 100644 --- a/config/examples/Geeetech/A20M/Configuration.h +++ b/config/examples/Geeetech/A20M/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A20T/Configuration.h b/config/examples/Geeetech/A20T/Configuration.h index a1a9654fca..f99b2cd344 100644 --- a/config/examples/Geeetech/A20T/Configuration.h +++ b/config/examples/Geeetech/A20T/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A30/Configuration.h b/config/examples/Geeetech/A30/Configuration.h index 0620832830..5372bcfb13 100644 --- a/config/examples/Geeetech/A30/Configuration.h +++ b/config/examples/Geeetech/A30/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A30M/Configuration.h b/config/examples/Geeetech/A30M/Configuration.h index c33fdafe5e..6e8194e04d 100644 --- a/config/examples/Geeetech/A30M/Configuration.h +++ b/config/examples/Geeetech/A30M/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/A30T/Configuration.h b/config/examples/Geeetech/A30T/Configuration.h index c4a1f10315..628351d1f7 100644 --- a/config/examples/Geeetech/A30T/Configuration.h +++ b/config/examples/Geeetech/A30T/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/D200/Configuration.h b/config/examples/Geeetech/D200/Configuration.h index b5b07aa96c..00a4babb72 100644 --- a/config/examples/Geeetech/D200/Configuration.h +++ b/config/examples/Geeetech/D200/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Duplicator5/Configuration.h b/config/examples/Geeetech/Duplicator5/Configuration.h index c9975b2b57..7ad76fdcc5 100644 --- a/config/examples/Geeetech/Duplicator5/Configuration.h +++ b/config/examples/Geeetech/Duplicator5/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/E180/Configuration.h b/config/examples/Geeetech/E180/Configuration.h index abea8ad303..ff89773e28 100644 --- a/config/examples/Geeetech/E180/Configuration.h +++ b/config/examples/Geeetech/E180/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/GT2560/Configuration.h b/config/examples/Geeetech/GT2560/Configuration.h index b5bbd3847b..17dacae945 100644 --- a/config/examples/Geeetech/GT2560/Configuration.h +++ b/config/examples/Geeetech/GT2560/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h b/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h index f43b2d2980..126d78543a 100644 --- a/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h +++ b/config/examples/Geeetech/I3_Pro_X-GT2560/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/M201/Configuration.h b/config/examples/Geeetech/M201/Configuration.h index 551ceeeaea..bb3c2ffdcf 100644 --- a/config/examples/Geeetech/M201/Configuration.h +++ b/config/examples/Geeetech/M201/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/MeCreator2/Configuration.h b/config/examples/Geeetech/MeCreator2/Configuration.h index 6069d5dd4b..d9c67c85ee 100644 --- a/config/examples/Geeetech/MeCreator2/Configuration.h +++ b/config/examples/Geeetech/MeCreator2/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Me_creator/Configuration.h b/config/examples/Geeetech/Me_creator/Configuration.h index 36053518ee..613d99ceee 100644 --- a/config/examples/Geeetech/Me_creator/Configuration.h +++ b/config/examples/Geeetech/Me_creator/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Me_ducer/Configuration.h b/config/examples/Geeetech/Me_ducer/Configuration.h index ea3e21e04f..61d7d42342 100644 --- a/config/examples/Geeetech/Me_ducer/Configuration.h +++ b/config/examples/Geeetech/Me_ducer/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/PI3A PRO/Configuration.h b/config/examples/Geeetech/PI3A PRO/Configuration.h index 9212116598..ee8940d426 100644 --- a/config/examples/Geeetech/PI3A PRO/Configuration.h +++ b/config/examples/Geeetech/PI3A PRO/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h b/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h index e85837adea..4c51a46da0 100644 --- a/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h +++ b/config/examples/Geeetech/Prusa i3 Pro B/bltouch/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h b/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h index f792ba9ff7..c15604b199 100644 --- a/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h +++ b/config/examples/Geeetech/Prusa i3 Pro B/noprobe/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h b/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h index 5ee6de2863..00b6ce289b 100644 --- a/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h +++ b/config/examples/Geeetech/Prusa i3 Pro C/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h b/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h index 91dc66e0a1..4714a4d7a3 100644 --- a/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h +++ b/config/examples/Geeetech/Prusa i3 Pro W/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/HMS434/Configuration.h b/config/examples/HMS434/Configuration.h index 6118729d63..ebb5078540 100644 --- a/config/examples/HMS434/Configuration.h +++ b/config/examples/HMS434/Configuration.h @@ -1117,17 +1117,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Hictop/3DP-17/Configuration.h b/config/examples/Hictop/3DP-17/Configuration.h index 91cc79e91f..4a5f8f2020 100644 --- a/config/examples/Hictop/3DP-17/Configuration.h +++ b/config/examples/Hictop/3DP-17/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Infitary/i3-M508/Configuration.h b/config/examples/Infitary/i3-M508/Configuration.h index fa2028481a..1893cf5514 100644 --- a/config/examples/Infitary/i3-M508/Configuration.h +++ b/config/examples/Infitary/i3-M508/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Intamsys/FunmatHT 4988/Configuration.h b/config/examples/Intamsys/FunmatHT 4988/Configuration.h index 6c7c176873..4fc8e7b9a9 100644 --- a/config/examples/Intamsys/FunmatHT 4988/Configuration.h +++ b/config/examples/Intamsys/FunmatHT 4988/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/JGAurora/A1/Configuration.h b/config/examples/JGAurora/A1/Configuration.h index fc5982b584..fb65f199ee 100644 --- a/config/examples/JGAurora/A1/Configuration.h +++ b/config/examples/JGAurora/A1/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/JGAurora/A3/Configuration.h b/config/examples/JGAurora/A3/Configuration.h index 81207f57fc..d7e499fc4a 100644 --- a/config/examples/JGAurora/A3/Configuration.h +++ b/config/examples/JGAurora/A3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/JGAurora/A5/Configuration.h b/config/examples/JGAurora/A5/Configuration.h index c3d8452f43..841411f719 100644 --- a/config/examples/JGAurora/A5/Configuration.h +++ b/config/examples/JGAurora/A5/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/JGAurora/A5S/Configuration.h b/config/examples/JGAurora/A5S/Configuration.h index dcaf65f6f0..d8853f63c4 100644 --- a/config/examples/JGAurora/A5S/Configuration.h +++ b/config/examples/JGAurora/A5S/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/JGAurora/Magic/Configuration.h b/config/examples/JGAurora/Magic/Configuration.h index 9c2d2674e1..2d4b65521a 100644 --- a/config/examples/JGAurora/Magic/Configuration.h +++ b/config/examples/JGAurora/Magic/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Kingroon/KP3/Configuration.h b/config/examples/Kingroon/KP3/Configuration.h index 070bde66d7..91e175311b 100644 --- a/config/examples/Kingroon/KP3/Configuration.h +++ b/config/examples/Kingroon/KP3/Configuration.h @@ -1118,17 +1118,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Kingroon/KP3S/Configuration.h b/config/examples/Kingroon/KP3S/Configuration.h index c2feb70324..da99e8f3eb 100644 --- a/config/examples/Kingroon/KP3S/Configuration.h +++ b/config/examples/Kingroon/KP3S/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Kingroon/KP3S_Pro/Configuration.h b/config/examples/Kingroon/KP3S_Pro/Configuration.h index 42940f9e89..525c6e67d1 100644 --- a/config/examples/Kingroon/KP3S_Pro/Configuration.h +++ b/config/examples/Kingroon/KP3S_Pro/Configuration.h @@ -1140,17 +1140,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Kingroon/KP5L-DIY/Configuration.h b/config/examples/Kingroon/KP5L-DIY/Configuration.h index bfaace21a8..ad3a0eb79a 100644 --- a/config/examples/Kingroon/KP5L-DIY/Configuration.h +++ b/config/examples/Kingroon/KP5L-DIY/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Labists/ET4/Configuration.h b/config/examples/Labists/ET4/Configuration.h index fbe23f993b..1e59993c68 100644 --- a/config/examples/Labists/ET4/Configuration.h +++ b/config/examples/Labists/ET4/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Longer/LK5/Configuration.h b/config/examples/Longer/LK5/Configuration.h index 605f2d0992..f88440dab7 100644 --- a/config/examples/Longer/LK5/Configuration.h +++ b/config/examples/Longer/LK5/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/LulzBot/TAZ4/Configuration.h b/config/examples/LulzBot/TAZ4/Configuration.h index 18e896ff55..554ec71d1e 100644 --- a/config/examples/LulzBot/TAZ4/Configuration.h +++ b/config/examples/LulzBot/TAZ4/Configuration.h @@ -1130,17 +1130,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MBot/Cube/Configuration.h b/config/examples/MBot/Cube/Configuration.h index ec1ce24f56..2d632be04a 100644 --- a/config/examples/MBot/Cube/Configuration.h +++ b/config/examples/MBot/Cube/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MakerBot/Replicator Dual/Configuration.h b/config/examples/MakerBot/Replicator Dual/Configuration.h index a1491bb2a7..d0d9c878b7 100644 --- a/config/examples/MakerBot/Replicator Dual/Configuration.h +++ b/config/examples/MakerBot/Replicator Dual/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MakerBot/Replicator Single/Configuration.h b/config/examples/MakerBot/Replicator Single/Configuration.h index dbf053bff6..d9bab84603 100644 --- a/config/examples/MakerBot/Replicator Single/Configuration.h +++ b/config/examples/MakerBot/Replicator Single/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MakerFarm/Pegasus 12/Configuration.h b/config/examples/MakerFarm/Pegasus 12/Configuration.h index 9c19efd2de..4099c72c97 100644 --- a/config/examples/MakerFarm/Pegasus 12/Configuration.h +++ b/config/examples/MakerFarm/Pegasus 12/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MakerGear/M2 Rev H/Configuration.h b/config/examples/MakerGear/M2 Rev H/Configuration.h index e2a54d3e52..aef63242fb 100644 --- a/config/examples/MakerGear/M2 Rev H/Configuration.h +++ b/config/examples/MakerGear/M2 Rev H/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MakerParts/Configuration.h b/config/examples/MakerParts/Configuration.h index 0f3a071903..9bcf968f7d 100644 --- a/config/examples/MakerParts/Configuration.h +++ b/config/examples/MakerParts/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/MakerTech3D/Proforge2sDual/Configuration.h b/config/examples/MakerTech3D/Proforge2sDual/Configuration.h index fd4f7c33cb..f9b1d1e477 100644 --- a/config/examples/MakerTech3D/Proforge2sDual/Configuration.h +++ b/config/examples/MakerTech3D/Proforge2sDual/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Malyan/M150/Configuration.h b/config/examples/Malyan/M150/Configuration.h index 13b40dc568..ba727a3116 100644 --- a/config/examples/Malyan/M150/Configuration.h +++ b/config/examples/Malyan/M150/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Malyan/M180/Configuration.h b/config/examples/Malyan/M180/Configuration.h index b4706a4ea2..f0d82139ea 100644 --- a/config/examples/Malyan/M180/Configuration.h +++ b/config/examples/Malyan/M180/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Malyan/M200/Configuration.h b/config/examples/Malyan/M200/Configuration.h index b7cdf60b95..3b238fd3da 100644 --- a/config/examples/Malyan/M200/Configuration.h +++ b/config/examples/Malyan/M200/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Materia101/Configuration.h b/config/examples/Materia101/Configuration.h index 415383d30e..81dbb4238b 100644 --- a/config/examples/Materia101/Configuration.h +++ b/config/examples/Materia101/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Micromake/C1/basic/Configuration.h b/config/examples/Micromake/C1/basic/Configuration.h index cd6f4baa87..36aa5b1b2f 100644 --- a/config/examples/Micromake/C1/basic/Configuration.h +++ b/config/examples/Micromake/C1/basic/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Micromake/C1/enhanced/Configuration.h b/config/examples/Micromake/C1/enhanced/Configuration.h index 14be38c155..abb1eeced7 100644 --- a/config/examples/Micromake/C1/enhanced/Configuration.h +++ b/config/examples/Micromake/C1/enhanced/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Mks/Robin/Configuration.h b/config/examples/Mks/Robin/Configuration.h index f6140180f6..741ee55f1f 100644 --- a/config/examples/Mks/Robin/Configuration.h +++ b/config/examples/Mks/Robin/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Mks/Robin_Lite3/Configuration.h b/config/examples/Mks/Robin_Lite3/Configuration.h index 89c99d4533..ff35ed25b1 100644 --- a/config/examples/Mks/Robin_Lite3/Configuration.h +++ b/config/examples/Mks/Robin_Lite3/Configuration.h @@ -1127,17 +1127,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Mks/Robin_Pro/Configuration.h b/config/examples/Mks/Robin_Pro/Configuration.h index e0af9c449a..614171f54b 100644 --- a/config/examples/Mks/Robin_Pro/Configuration.h +++ b/config/examples/Mks/Robin_Pro/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Mks/Sbase/Configuration.h b/config/examples/Mks/Sbase/Configuration.h index ae087d8b2f..920ab9181b 100644 --- a/config/examples/Mks/Sbase/Configuration.h +++ b/config/examples/Mks/Sbase/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Modix/Big60/Configuration.h b/config/examples/Modix/Big60/Configuration.h index 4a3b4793dc..c0fb6d23ab 100644 --- a/config/examples/Modix/Big60/Configuration.h +++ b/config/examples/Modix/Big60/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Nextion/Configuration.h b/config/examples/Nextion/Configuration.h index d7c32f1ed1..389f40be03 100644 --- a/config/examples/Nextion/Configuration.h +++ b/config/examples/Nextion/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/ORD Bot/Hadron/Sanguinololu/Configuration.h b/config/examples/ORD Bot/Hadron/Sanguinololu/Configuration.h index 6bd051364f..b47659cbeb 100644 --- a/config/examples/ORD Bot/Hadron/Sanguinololu/Configuration.h +++ b/config/examples/ORD Bot/Hadron/Sanguinololu/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Opulo/Lumen_REV3/Configuration.h b/config/examples/Opulo/Lumen_REV3/Configuration.h index cd5d102e8b..6d0242f016 100644 --- a/config/examples/Opulo/Lumen_REV3/Configuration.h +++ b/config/examples/Opulo/Lumen_REV3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Opulo/Lumen_REV4/Configuration.h b/config/examples/Opulo/Lumen_REV4/Configuration.h index 608f4e2cb7..14a8a5cd27 100644 --- a/config/examples/Opulo/Lumen_REV4/Configuration.h +++ b/config/examples/Opulo/Lumen_REV4/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Opulo/Lumen_REV5/Configuration.h b/config/examples/Opulo/Lumen_REV5/Configuration.h index ee8f470b9e..7754d91557 100644 --- a/config/examples/Opulo/Lumen_REV5/Configuration.h +++ b/config/examples/Opulo/Lumen_REV5/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Ortur 4/Configuration.h b/config/examples/Ortur 4/Configuration.h index cd061bd9c1..8fd09dd51a 100644 --- a/config/examples/Ortur 4/Configuration.h +++ b/config/examples/Ortur 4/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Polargraph/Configuration.h b/config/examples/Polargraph/Configuration.h index fc581f6493..c9ead4519f 100644 --- a/config/examples/Polargraph/Configuration.h +++ b/config/examples/Polargraph/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Printrbot/PrintrboardG2/Configuration.h b/config/examples/Printrbot/PrintrboardG2/Configuration.h index 53ca9c35a8..6240acc91c 100644 --- a/config/examples/Printrbot/PrintrboardG2/Configuration.h +++ b/config/examples/Printrbot/PrintrboardG2/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Printrbot/Simple Metal RevD/Configuration.h b/config/examples/Printrbot/Simple Metal RevD/Configuration.h index 4f922bd791..9139358a1d 100644 --- a/config/examples/Printrbot/Simple Metal RevD/Configuration.h +++ b/config/examples/Printrbot/Simple Metal RevD/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Printrbot/Simple_Metal_RevF6/Configuration.h b/config/examples/Printrbot/Simple_Metal_RevF6/Configuration.h index 4ca263e9f1..71b03e09c3 100644 --- a/config/examples/Printrbot/Simple_Metal_RevF6/Configuration.h +++ b/config/examples/Printrbot/Simple_Metal_RevF6/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Prusa/MK3/Configuration.h b/config/examples/Prusa/MK3/Configuration.h index 8d391e3986..aa20e88792 100644 --- a/config/examples/Prusa/MK3/Configuration.h +++ b/config/examples/Prusa/MK3/Configuration.h @@ -1145,17 +1145,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Prusa/MK3S-BigTreeTech-BTT002/Configuration.h b/config/examples/Prusa/MK3S-BigTreeTech-BTT002/Configuration.h index 741f7efaac..8c3aebdcef 100644 --- a/config/examples/Prusa/MK3S-BigTreeTech-BTT002/Configuration.h +++ b/config/examples/Prusa/MK3S-BigTreeTech-BTT002/Configuration.h @@ -1135,17 +1135,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Qidi/Qidi 1/Configuration.h b/config/examples/Qidi/Qidi 1/Configuration.h index 992f354f90..e445377d45 100644 --- a/config/examples/Qidi/Qidi 1/Configuration.h +++ b/config/examples/Qidi/Qidi 1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Raiscube/A8r/Configuration.h b/config/examples/Raiscube/A8r/Configuration.h index 1070e4de0b..ab91da9dcd 100644 --- a/config/examples/Raiscube/A8r/Configuration.h +++ b/config/examples/Raiscube/A8r/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/RapideLite/RL200/Configuration.h b/config/examples/RapideLite/RL200/Configuration.h index 85168f6134..b50034ff69 100644 --- a/config/examples/RapideLite/RL200/Configuration.h +++ b/config/examples/RapideLite/RL200/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Renkforce/RF100/Configuration.h b/config/examples/Renkforce/RF100/Configuration.h index 4b56e1f742..5b27c38d22 100644 --- a/config/examples/Renkforce/RF100/Configuration.h +++ b/config/examples/Renkforce/RF100/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Renkforce/RF100XL/Configuration.h b/config/examples/Renkforce/RF100XL/Configuration.h index 4248dd7bc5..e4b2377d78 100644 --- a/config/examples/Renkforce/RF100XL/Configuration.h +++ b/config/examples/Renkforce/RF100XL/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Renkforce/RF100v2/Configuration.h b/config/examples/Renkforce/RF100v2/Configuration.h index c1ec96aea7..e12dc446f7 100644 --- a/config/examples/Renkforce/RF100v2/Configuration.h +++ b/config/examples/Renkforce/RF100v2/Configuration.h @@ -1124,17 +1124,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/RepRapPro/Huxley/Configuration.h b/config/examples/RepRapPro/Huxley/Configuration.h index b2ec11d90d..ed02b052ca 100644 --- a/config/examples/RepRapPro/Huxley/Configuration.h +++ b/config/examples/RepRapPro/Huxley/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/RepRapWorld/Megatronics/Configuration.h b/config/examples/RepRapWorld/Megatronics/Configuration.h index 414d217be3..a86e48fb48 100644 --- a/config/examples/RepRapWorld/Megatronics/Configuration.h +++ b/config/examples/RepRapWorld/Megatronics/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/RepRapWorld/Minitronics11/Configuration.h b/config/examples/RepRapWorld/Minitronics11/Configuration.h index 8571292272..7782512e3d 100644 --- a/config/examples/RepRapWorld/Minitronics11/Configuration.h +++ b/config/examples/RepRapWorld/Minitronics11/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/RepRapWorld/Minitronics20/CNC/Configuration.h b/config/examples/RepRapWorld/Minitronics20/CNC/Configuration.h index fcee8dccd8..6584222e25 100644 --- a/config/examples/RepRapWorld/Minitronics20/CNC/Configuration.h +++ b/config/examples/RepRapWorld/Minitronics20/CNC/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/RigidBot/Configuration.h b/config/examples/RigidBot/Configuration.h index b27d42c8e8..069899af4d 100644 --- a/config/examples/RigidBot/Configuration.h +++ b/config/examples/RigidBot/Configuration.h @@ -1131,17 +1131,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Robo3D/R1+/Configuration.h b/config/examples/Robo3D/R1+/Configuration.h index fe5eef2d93..854f6d27cd 100644 --- a/config/examples/Robo3D/R1+/Configuration.h +++ b/config/examples/Robo3D/R1+/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Rolohaun/Rook MK1/Configuration.h b/config/examples/Rolohaun/Rook MK1/Configuration.h index 5ebd0cd9d8..a5c77c219f 100644 --- a/config/examples/Rolohaun/Rook MK1/Configuration.h +++ b/config/examples/Rolohaun/Rook MK1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/SCARA/MP_SCARA/Configuration.h b/config/examples/SCARA/MP_SCARA/Configuration.h index e50ed6eb9a..2f3b4aeff7 100644 --- a/config/examples/SCARA/MP_SCARA/Configuration.h +++ b/config/examples/SCARA/MP_SCARA/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/SCARA/Morgan/Configuration.h b/config/examples/SCARA/Morgan/Configuration.h index 15d9902f57..07d89123cd 100644 --- a/config/examples/SCARA/Morgan/Configuration.h +++ b/config/examples/SCARA/Morgan/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/STM32/Black_STM32F407VET6/Configuration.h b/config/examples/STM32/Black_STM32F407VET6/Configuration.h index db97056400..d04512fd1c 100644 --- a/config/examples/STM32/Black_STM32F407VET6/Configuration.h +++ b/config/examples/STM32/Black_STM32F407VET6/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/STM32/STM32F103RE/Configuration.h b/config/examples/STM32/STM32F103RE/Configuration.h index db6defdb4c..794e2ef982 100644 --- a/config/examples/STM32/STM32F103RE/Configuration.h +++ b/config/examples/STM32/STM32F103RE/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Simax/Mi-M200/Configuration.h b/config/examples/Simax/Mi-M200/Configuration.h index f0c78f164a..ebb94de6a9 100644 --- a/config/examples/Simax/Mi-M200/Configuration.h +++ b/config/examples/Simax/Mi-M200/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Simulator/Configuration.h b/config/examples/Simulator/Configuration.h index 4abe90d813..f12ee60dd7 100644 --- a/config/examples/Simulator/Configuration.h +++ b/config/examples/Simulator/Configuration.h @@ -1134,17 +1134,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-01/BigTreeTech SKR E3 Turbo/Configuration.h b/config/examples/Sovol/SV-01/BigTreeTech SKR E3 Turbo/Configuration.h index b646d9e4e5..5006cbebb4 100644 --- a/config/examples/Sovol/SV-01/BigTreeTech SKR E3 Turbo/Configuration.h +++ b/config/examples/Sovol/SV-01/BigTreeTech SKR E3 Turbo/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 2.0/Configuration.h index 5cab12f411..6a27d5bbea 100644 --- a/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 3.0/Configuration.h b/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 3.0/Configuration.h index 148272fc88..65663949f2 100644 --- a/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 3.0/Configuration.h +++ b/config/examples/Sovol/SV-01/BigTreeTech SKR Mini E3 3.0/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-01/CrealityV22/Configuration.h b/config/examples/Sovol/SV-01/CrealityV22/Configuration.h index 2d33483c94..e40cc2dbbd 100644 --- a/config/examples/Sovol/SV-01/CrealityV22/Configuration.h +++ b/config/examples/Sovol/SV-01/CrealityV22/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-01/CrealityV221/Configuration.h b/config/examples/Sovol/SV-01/CrealityV221/Configuration.h index caac6ce1f1..4c230b5cb6 100644 --- a/config/examples/Sovol/SV-01/CrealityV221/Configuration.h +++ b/config/examples/Sovol/SV-01/CrealityV221/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-02/Configuration.h b/config/examples/Sovol/SV-02/Configuration.h index 985e923f62..d709aeea53 100644 --- a/config/examples/Sovol/SV-02/Configuration.h +++ b/config/examples/Sovol/SV-02/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-03/Configuration.h b/config/examples/Sovol/SV-03/Configuration.h index 32d7891f1e..9062eeb077 100644 --- a/config/examples/Sovol/SV-03/Configuration.h +++ b/config/examples/Sovol/SV-03/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-05/Configuration.h b/config/examples/Sovol/SV-05/Configuration.h index c8ecdbe32b..e3026e7183 100644 --- a/config/examples/Sovol/SV-05/Configuration.h +++ b/config/examples/Sovol/SV-05/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-06 Plus/Configuration.h b/config/examples/Sovol/SV-06 Plus/Configuration.h index e3447e9d63..35d98177dd 100644 --- a/config/examples/Sovol/SV-06 Plus/Configuration.h +++ b/config/examples/Sovol/SV-06 Plus/Configuration.h @@ -1123,17 +1123,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sovol/SV-06/Configuration.h b/config/examples/Sovol/SV-06/Configuration.h index 66815e8c01..87aaf716fe 100644 --- a/config/examples/Sovol/SV-06/Configuration.h +++ b/config/examples/Sovol/SV-06/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sunlu/S8/Configuration.h b/config/examples/Sunlu/S8/Configuration.h index f70c9e8d2e..97f9f0b6b3 100644 --- a/config/examples/Sunlu/S8/Configuration.h +++ b/config/examples/Sunlu/S8/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Sunlu/T3/Configuration.h b/config/examples/Sunlu/T3/Configuration.h index f8646649be..adfd0448d4 100644 --- a/config/examples/Sunlu/T3/Configuration.h +++ b/config/examples/Sunlu/T3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tevo/Michelangelo/Configuration.h b/config/examples/Tevo/Michelangelo/Configuration.h index c46c24874a..420877bc00 100644 --- a/config/examples/Tevo/Michelangelo/Configuration.h +++ b/config/examples/Tevo/Michelangelo/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tevo/Nereus/Configuration.h b/config/examples/Tevo/Nereus/Configuration.h index af2161eada..21caadea3f 100644 --- a/config/examples/Tevo/Nereus/Configuration.h +++ b/config/examples/Tevo/Nereus/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tevo/Tarantula Pro/MKS Gen_L/Configuration.h b/config/examples/Tevo/Tarantula Pro/MKS Gen_L/Configuration.h index 216ae97b30..85b2c02205 100644 --- a/config/examples/Tevo/Tarantula Pro/MKS Gen_L/Configuration.h +++ b/config/examples/Tevo/Tarantula Pro/MKS Gen_L/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tevo/Tarantula Pro/MKS SGen_L/Configuration.h b/config/examples/Tevo/Tarantula Pro/MKS SGen_L/Configuration.h index c1da954f4c..1d9e69b298 100644 --- a/config/examples/Tevo/Tarantula Pro/MKS SGen_L/Configuration.h +++ b/config/examples/Tevo/Tarantula Pro/MKS SGen_L/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration.h b/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration.h index bc2af721c8..69e2eba08e 100644 --- a/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration.h +++ b/config/examples/Tevo/Tornado/V1 (MKS Base)/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tevo/Tornado/V2 (MKS Gen_L)/Configuration.h b/config/examples/Tevo/Tornado/V2 (MKS Gen_L)/Configuration.h index b05493f204..ba8d77abd5 100644 --- a/config/examples/Tevo/Tornado/V2 (MKS Gen_L)/Configuration.h +++ b/config/examples/Tevo/Tornado/V2 (MKS Gen_L)/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tinkerine/Ditto Pro/RAMPS 1.4/Configuration.h b/config/examples/Tinkerine/Ditto Pro/RAMPS 1.4/Configuration.h index 2d15cd0064..bf8e1c17af 100644 --- a/config/examples/Tinkerine/Ditto Pro/RAMPS 1.4/Configuration.h +++ b/config/examples/Tinkerine/Ditto Pro/RAMPS 1.4/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/TinyBoy2/Configuration.h b/config/examples/TinyBoy2/Configuration.h index fd64c40eb1..66de942577 100644 --- a/config/examples/TinyBoy2/Configuration.h +++ b/config/examples/TinyBoy2/Configuration.h @@ -1159,17 +1159,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/D01/CXY-v6-191017 board/Configuration.h b/config/examples/Tronxy/D01/CXY-v6-191017 board/Configuration.h index 23c18785ff..ac994b199f 100644 --- a/config/examples/Tronxy/D01/CXY-v6-191017 board/Configuration.h +++ b/config/examples/Tronxy/D01/CXY-v6-191017 board/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X1/Configuration.h b/config/examples/Tronxy/X1/Configuration.h index 8cdd6b6cfb..5e3fb86060 100644 --- a/config/examples/Tronxy/X1/Configuration.h +++ b/config/examples/Tronxy/X1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X3A/Configuration.h b/config/examples/Tronxy/X3A/Configuration.h index cff16b9ce3..5bc52a91da 100644 --- a/config/examples/Tronxy/X3A/Configuration.h +++ b/config/examples/Tronxy/X3A/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X5S-2E/Green Board (Chitu V5)/Configuration.h b/config/examples/Tronxy/X5S-2E/Green Board (Chitu V5)/Configuration.h index a3c2927a53..330281c1fd 100644 --- a/config/examples/Tronxy/X5S-2E/Green Board (Chitu V5)/Configuration.h +++ b/config/examples/Tronxy/X5S-2E/Green Board (Chitu V5)/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X5S-2E/Red Board (Tronxy 3.1.0)/Configuration.h b/config/examples/Tronxy/X5S-2E/Red Board (Tronxy 3.1.0)/Configuration.h index 2f91d46746..44db9044ed 100644 --- a/config/examples/Tronxy/X5S-2E/Red Board (Tronxy 3.1.0)/Configuration.h +++ b/config/examples/Tronxy/X5S-2E/Red Board (Tronxy 3.1.0)/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X5S/Configuration.h b/config/examples/Tronxy/X5S/Configuration.h index f8c0eb58a5..2c95d603e6 100644 --- a/config/examples/Tronxy/X5S/Configuration.h +++ b/config/examples/Tronxy/X5S/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X5SA-2E/Configuration.h b/config/examples/Tronxy/X5SA-2E/Configuration.h index 6523cf2082..a589f92aee 100644 --- a/config/examples/Tronxy/X5SA-2E/Configuration.h +++ b/config/examples/Tronxy/X5SA-2E/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/X5SA/Configuration.h b/config/examples/Tronxy/X5SA/Configuration.h index c74899a597..f95ef3545f 100644 --- a/config/examples/Tronxy/X5SA/Configuration.h +++ b/config/examples/Tronxy/X5SA/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/XY100/Configuration.h b/config/examples/Tronxy/XY100/Configuration.h index dc8478984c..4f766c6f34 100644 --- a/config/examples/Tronxy/XY100/Configuration.h +++ b/config/examples/Tronxy/XY100/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Tronxy/XY2-Pro/Configuration.h b/config/examples/Tronxy/XY2-Pro/Configuration.h index 0ed5ed34c3..b50d762df1 100644 --- a/config/examples/Tronxy/XY2-Pro/Configuration.h +++ b/config/examples/Tronxy/XY2-Pro/Configuration.h @@ -1155,17 +1155,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Turnigy/Fabrikator/Configuration.h b/config/examples/Turnigy/Fabrikator/Configuration.h index 6f4399044c..40065db937 100644 --- a/config/examples/Turnigy/Fabrikator/Configuration.h +++ b/config/examples/Turnigy/Fabrikator/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/BlueR Plus/Configuration.h b/config/examples/Two Trees/BlueR Plus/Configuration.h index 60d952bad9..87c19d06b4 100644 --- a/config/examples/Two Trees/BlueR Plus/Configuration.h +++ b/config/examples/Two Trees/BlueR Plus/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/BlueR/BlueR V1/Configuration.h b/config/examples/Two Trees/BlueR/BlueR V1/Configuration.h index df24c5677c..2274387428 100644 --- a/config/examples/Two Trees/BlueR/BlueR V1/Configuration.h +++ b/config/examples/Two Trees/BlueR/BlueR V1/Configuration.h @@ -1134,17 +1134,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/BlueR/BlueR V2/Configuration.h b/config/examples/Two Trees/BlueR/BlueR V2/Configuration.h index 54b4666829..120cb452a9 100644 --- a/config/examples/Two Trees/BlueR/BlueR V2/Configuration.h +++ b/config/examples/Two Trees/BlueR/BlueR V2/Configuration.h @@ -1135,17 +1135,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/BlueR/BlueR V3/Configuration.h b/config/examples/Two Trees/BlueR/BlueR V3/Configuration.h index 4d0cb5204b..cdb814be7a 100644 --- a/config/examples/Two Trees/BlueR/BlueR V3/Configuration.h +++ b/config/examples/Two Trees/BlueR/BlueR V3/Configuration.h @@ -1142,17 +1142,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/SP-5_V3/Configuration.h b/config/examples/Two Trees/SP-5_V3/Configuration.h index a807c67c5e..f0d5ce641a 100644 --- a/config/examples/Two Trees/SP-5_V3/Configuration.h +++ b/config/examples/Two Trees/SP-5_V3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2.1/Configuration.h b/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2.1/Configuration.h index 7eaf42c86b..2107efff37 100644 --- a/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2.1/Configuration.h +++ b/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2.1/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2/Configuration.h b/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2/Configuration.h index 44c3bd8cdd..9172e0056b 100644 --- a/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2/Configuration.h +++ b/config/examples/Two Trees/Sapphire Plus/Sapphire Plus V2/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Two Trees/Sapphire Pro/Configuration.h b/config/examples/Two Trees/Sapphire Pro/Configuration.h index d2b2bb236a..b52e5c12c3 100644 --- a/config/examples/Two Trees/Sapphire Pro/Configuration.h +++ b/config/examples/Two Trees/Sapphire Pro/Configuration.h @@ -1132,17 +1132,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/UltiMachine/Archim1/Configuration.h b/config/examples/UltiMachine/Archim1/Configuration.h index 003872daf5..7390776571 100644 --- a/config/examples/UltiMachine/Archim1/Configuration.h +++ b/config/examples/UltiMachine/Archim1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/UltiMachine/Archim2/Configuration.h b/config/examples/UltiMachine/Archim2/Configuration.h index 6e75c55403..a571863591 100644 --- a/config/examples/UltiMachine/Archim2/Configuration.h +++ b/config/examples/UltiMachine/Archim2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Ultimaker/Ultimaker 2+/Configuration.h b/config/examples/Ultimaker/Ultimaker 2+/Configuration.h index e34645edfb..067b574adb 100644 --- a/config/examples/Ultimaker/Ultimaker 2+/Configuration.h +++ b/config/examples/Ultimaker/Ultimaker 2+/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Ultimaker/Ultimaker 2/Configuration.h b/config/examples/Ultimaker/Ultimaker 2/Configuration.h index ae81393742..a9ddc7b73a 100644 --- a/config/examples/Ultimaker/Ultimaker 2/Configuration.h +++ b/config/examples/Ultimaker/Ultimaker 2/Configuration.h @@ -1131,17 +1131,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Ultimaker/Ultimaker Original (1.5.7)/Configuration.h b/config/examples/Ultimaker/Ultimaker Original (1.5.7)/Configuration.h index c3a0b8a4b1..a048ec90b2 100644 --- a/config/examples/Ultimaker/Ultimaker Original (1.5.7)/Configuration.h +++ b/config/examples/Ultimaker/Ultimaker Original (1.5.7)/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Ultimaker/Ultimaker Original Plus (2.1.1)/Configuration.h b/config/examples/Ultimaker/Ultimaker Original Plus (2.1.1)/Configuration.h index 16b213e82d..566471298f 100644 --- a/config/examples/Ultimaker/Ultimaker Original Plus (2.1.1)/Configuration.h +++ b/config/examples/Ultimaker/Ultimaker Original Plus (2.1.1)/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Ultimaker/Ultimaker Original Plus DXU/Configuration.h b/config/examples/Ultimaker/Ultimaker Original Plus DXU/Configuration.h index 9f08662168..efef0d1eec 100644 --- a/config/examples/Ultimaker/Ultimaker Original Plus DXU/Configuration.h +++ b/config/examples/Ultimaker/Ultimaker Original Plus DXU/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/VORONDesign/Configuration.h b/config/examples/VORONDesign/Configuration.h index d91129ba53..e91e65a6e5 100644 --- a/config/examples/VORONDesign/Configuration.h +++ b/config/examples/VORONDesign/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Velleman/K8200 Upgraded/Configuration.h b/config/examples/Velleman/K8200 Upgraded/Configuration.h index 113bb4cd20..5bde0d2524 100644 --- a/config/examples/Velleman/K8200 Upgraded/Configuration.h +++ b/config/examples/Velleman/K8200 Upgraded/Configuration.h @@ -1146,17 +1146,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Velleman/K8200/Configuration.h b/config/examples/Velleman/K8200/Configuration.h index 13856b9c5d..c766490a00 100644 --- a/config/examples/Velleman/K8200/Configuration.h +++ b/config/examples/Velleman/K8200/Configuration.h @@ -1148,17 +1148,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Velleman/K8400/Dual-head/Configuration.h b/config/examples/Velleman/K8400/Dual-head/Configuration.h index ce0247ce2f..d0db54177c 100644 --- a/config/examples/Velleman/K8400/Dual-head/Configuration.h +++ b/config/examples/Velleman/K8400/Dual-head/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Velleman/K8400/Single-head/Configuration.h b/config/examples/Velleman/K8400/Single-head/Configuration.h index 63000d8be6..6781cff93f 100644 --- a/config/examples/Velleman/K8400/Single-head/Configuration.h +++ b/config/examples/Velleman/K8400/Single-head/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Voxelab/Aquila/BigTreeTech SKR Mini E3 2.0/Configuration.h b/config/examples/Voxelab/Aquila/BigTreeTech SKR Mini E3 2.0/Configuration.h index dd8ec79879..31f332d1be 100644 --- a/config/examples/Voxelab/Aquila/BigTreeTech SKR Mini E3 2.0/Configuration.h +++ b/config/examples/Voxelab/Aquila/BigTreeTech SKR Mini E3 2.0/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/WASP/PowerWASP/Configuration.h b/config/examples/WASP/PowerWASP/Configuration.h index 9d02259760..da10340259 100644 --- a/config/examples/WASP/PowerWASP/Configuration.h +++ b/config/examples/WASP/PowerWASP/Configuration.h @@ -1133,17 +1133,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 4S/Configuration.h b/config/examples/Wanhao/Duplicator 4S/Configuration.h index b21b953ed1..be5389ec31 100644 --- a/config/examples/Wanhao/Duplicator 4S/Configuration.h +++ b/config/examples/Wanhao/Duplicator 4S/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 6/Configuration.h b/config/examples/Wanhao/Duplicator 6/Configuration.h index 17016c72d8..8a347f90b1 100644 --- a/config/examples/Wanhao/Duplicator 6/Configuration.h +++ b/config/examples/Wanhao/Duplicator 6/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK1/300/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK1/300/Configuration.h index 682d98df00..a2e00b48f6 100644 --- a/config/examples/Wanhao/Duplicator 9/MK1/300/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK1/300/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK1/400/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK1/400/Configuration.h index 63506edb59..6868cab51d 100644 --- a/config/examples/Wanhao/Duplicator 9/MK1/400/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK1/400/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK1/500/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK1/500/Configuration.h index 4a2161d639..2aad7617eb 100644 --- a/config/examples/Wanhao/Duplicator 9/MK1/500/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK1/500/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK1u2/300/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK1u2/300/Configuration.h index 5ac68accb7..c50b5f9abb 100644 --- a/config/examples/Wanhao/Duplicator 9/MK1u2/300/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK1u2/300/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK1u2/400/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK1u2/400/Configuration.h index d04acd7e9b..c993f999bd 100644 --- a/config/examples/Wanhao/Duplicator 9/MK1u2/400/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK1u2/400/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK1u2/500/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK1u2/500/Configuration.h index 972aa885f4..9cf1da3832 100644 --- a/config/examples/Wanhao/Duplicator 9/MK1u2/500/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK1u2/500/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK2/300/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK2/300/Configuration.h index 1711e20730..e4ec3362e3 100644 --- a/config/examples/Wanhao/Duplicator 9/MK2/300/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK2/300/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK2/400/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK2/400/Configuration.h index f8f6e27018..c47d18cd45 100644 --- a/config/examples/Wanhao/Duplicator 9/MK2/400/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK2/400/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK2/500/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK2/500/Configuration.h index fa57117b68..9a75c15d67 100644 --- a/config/examples/Wanhao/Duplicator 9/MK2/500/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK2/500/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK3/300/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK3/300/Configuration.h index 0f4514d337..0172d4c5cb 100644 --- a/config/examples/Wanhao/Duplicator 9/MK3/300/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK3/300/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK3/400/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK3/400/Configuration.h index 53346c0018..12c983a6de 100644 --- a/config/examples/Wanhao/Duplicator 9/MK3/400/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK3/400/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator 9/MK3/500/Configuration.h b/config/examples/Wanhao/Duplicator 9/MK3/500/Configuration.h index 0af5bcbe5c..1dd9d19305 100644 --- a/config/examples/Wanhao/Duplicator 9/MK3/500/Configuration.h +++ b/config/examples/Wanhao/Duplicator 9/MK3/500/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator i3 2.1/Configuration.h b/config/examples/Wanhao/Duplicator i3 2.1/Configuration.h index 4bac5f15fc..c96ab11685 100644 --- a/config/examples/Wanhao/Duplicator i3 2.1/Configuration.h +++ b/config/examples/Wanhao/Duplicator i3 2.1/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator i3 Mini/Configuration.h b/config/examples/Wanhao/Duplicator i3 Mini/Configuration.h index 919f88d49e..28fbb62b2f 100644 --- a/config/examples/Wanhao/Duplicator i3 Mini/Configuration.h +++ b/config/examples/Wanhao/Duplicator i3 Mini/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Wanhao/Duplicator i3 Plus/Configuration.h b/config/examples/Wanhao/Duplicator i3 Plus/Configuration.h index 50c11de5f5..b92c8eb5fe 100644 --- a/config/examples/Wanhao/Duplicator i3 Plus/Configuration.h +++ b/config/examples/Wanhao/Duplicator i3 Plus/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Weedo/Tina2/V2/Configuration.h b/config/examples/Weedo/Tina2/V2/Configuration.h index d2b6412e4f..d0df18b27a 100644 --- a/config/examples/Weedo/Tina2/V2/Configuration.h +++ b/config/examples/Weedo/Tina2/V2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Weedo/Tina2/V3/Configuration.h b/config/examples/Weedo/Tina2/V3/Configuration.h index 681876794d..0b5c561a13 100644 --- a/config/examples/Weedo/Tina2/V3/Configuration.h +++ b/config/examples/Weedo/Tina2/V3/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Weistek/wt150/Configuration.h b/config/examples/Weistek/wt150/Configuration.h index 164e42f1cd..6f947ab5c1 100644 --- a/config/examples/Weistek/wt150/Configuration.h +++ b/config/examples/Weistek/wt150/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Zonestar/P802M/Configuration.h b/config/examples/Zonestar/P802M/Configuration.h index 266fb3d4ce..7d08e05516 100644 --- a/config/examples/Zonestar/P802M/Configuration.h +++ b/config/examples/Zonestar/P802M/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (A4988)/Configuration.h b/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (A4988)/Configuration.h index 726488c041..8714c7be76 100644 --- a/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (A4988)/Configuration.h +++ b/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (A4988)/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (TMC2209)/Configuration.h b/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (TMC2209)/Configuration.h index b84bb0268d..ba3ba2e306 100644 --- a/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (TMC2209)/Configuration.h +++ b/config/examples/Zonestar/P802QR2/BigTreeTech SKR 1.4 Turbo (TMC2209)/Configuration.h @@ -1121,17 +1121,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Anycubic/Kossel Linear Plus/Configuration.h b/config/examples/delta/Anycubic/Kossel Linear Plus/Configuration.h index a2f887b5bf..9ec7c8abf8 100644 --- a/config/examples/delta/Anycubic/Kossel Linear Plus/Configuration.h +++ b/config/examples/delta/Anycubic/Kossel Linear Plus/Configuration.h @@ -1166,17 +1166,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Anycubic/Kossel/Configuration.h b/config/examples/delta/Anycubic/Kossel/Configuration.h index ad59523ce7..c626068b37 100644 --- a/config/examples/delta/Anycubic/Kossel/Configuration.h +++ b/config/examples/delta/Anycubic/Kossel/Configuration.h @@ -1163,17 +1163,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Anycubic/Predator/Configuration.h b/config/examples/delta/Anycubic/Predator/Configuration.h index 5e2e63e42c..3c5405b0a3 100644 --- a/config/examples/delta/Anycubic/Predator/Configuration.h +++ b/config/examples/delta/Anycubic/Predator/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Dreammaker/Overlord/Configuration.h b/config/examples/delta/Dreammaker/Overlord/Configuration.h index 6f92535450..de08b92c63 100644 --- a/config/examples/delta/Dreammaker/Overlord/Configuration.h +++ b/config/examples/delta/Dreammaker/Overlord/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Dreammaker/Overlord_Pro/Configuration.h b/config/examples/delta/Dreammaker/Overlord_Pro/Configuration.h index 509d0b3967..607133d899 100644 --- a/config/examples/delta/Dreammaker/Overlord_Pro/Configuration.h +++ b/config/examples/delta/Dreammaker/Overlord_Pro/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/Q5-nano_v1/Configuration.h b/config/examples/delta/FLSUN/Q5-nano_v1/Configuration.h index d247125ad9..3cd18a861f 100644 --- a/config/examples/delta/FLSUN/Q5-nano_v1/Configuration.h +++ b/config/examples/delta/FLSUN/Q5-nano_v1/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/Q5-nano_v2/Configuration.h b/config/examples/delta/FLSUN/Q5-nano_v2/Configuration.h index 3032365780..650d400798 100644 --- a/config/examples/delta/FLSUN/Q5-nano_v2/Configuration.h +++ b/config/examples/delta/FLSUN/Q5-nano_v2/Configuration.h @@ -1119,17 +1119,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/QQ-S/Configuration.h b/config/examples/delta/FLSUN/QQ-S/Configuration.h index a0435bf9f6..4769155e64 100644 --- a/config/examples/delta/FLSUN/QQ-S/Configuration.h +++ b/config/examples/delta/FLSUN/QQ-S/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/QQS-Pro/Configuration.h b/config/examples/delta/FLSUN/QQS-Pro/Configuration.h index 5c5d8f3cb5..9b86a79d30 100644 --- a/config/examples/delta/FLSUN/QQS-Pro/Configuration.h +++ b/config/examples/delta/FLSUN/QQS-Pro/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/auto_calibrate/Configuration.h b/config/examples/delta/FLSUN/auto_calibrate/Configuration.h index ab8a5aecd5..17f0fec512 100644 --- a/config/examples/delta/FLSUN/auto_calibrate/Configuration.h +++ b/config/examples/delta/FLSUN/auto_calibrate/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/kossel/Configuration.h b/config/examples/delta/FLSUN/kossel/Configuration.h index 909d9eaeab..46e569a814 100644 --- a/config/examples/delta/FLSUN/kossel/Configuration.h +++ b/config/examples/delta/FLSUN/kossel/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/FLSUN/kossel_mini/Configuration.h b/config/examples/delta/FLSUN/kossel_mini/Configuration.h index 98a698c1a4..d3d70a4857 100644 --- a/config/examples/delta/FLSUN/kossel_mini/Configuration.h +++ b/config/examples/delta/FLSUN/kossel_mini/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Geeetech/G2/Configuration.h b/config/examples/delta/Geeetech/G2/Configuration.h index 8904fd1c23..5fa61e9c6d 100644 --- a/config/examples/delta/Geeetech/G2/Configuration.h +++ b/config/examples/delta/Geeetech/G2/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Geeetech/G2Pro/Configuration.h b/config/examples/delta/Geeetech/G2Pro/Configuration.h index c6f5cdee5c..38cb973cf6 100644 --- a/config/examples/delta/Geeetech/G2Pro/Configuration.h +++ b/config/examples/delta/Geeetech/G2Pro/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Geeetech/G2S/Configuration.h b/config/examples/delta/Geeetech/G2S/Configuration.h index d6fc265964..d186eb8f35 100644 --- a/config/examples/delta/Geeetech/G2S/Configuration.h +++ b/config/examples/delta/Geeetech/G2S/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Geeetech/G2SPro/Configuration.h b/config/examples/delta/Geeetech/G2SPro/Configuration.h index b474e26cdb..5dae44e758 100644 --- a/config/examples/delta/Geeetech/G2SPro/Configuration.h +++ b/config/examples/delta/Geeetech/G2SPro/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Geeetech/Rostock 301/Configuration.h b/config/examples/delta/Geeetech/Rostock 301/Configuration.h index 88369b5912..650095837f 100644 --- a/config/examples/delta/Geeetech/Rostock 301/Configuration.h +++ b/config/examples/delta/Geeetech/Rostock 301/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Hatchbox_Alpha/Configuration.h b/config/examples/delta/Hatchbox_Alpha/Configuration.h index ae167dc2b4..cba9fc0f39 100644 --- a/config/examples/delta/Hatchbox_Alpha/Configuration.h +++ b/config/examples/delta/Hatchbox_Alpha/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/MKS/SBASE/Configuration.h b/config/examples/delta/MKS/SBASE/Configuration.h index 3180316e16..e8d754d249 100644 --- a/config/examples/delta/MKS/SBASE/Configuration.h +++ b/config/examples/delta/MKS/SBASE/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Malyan M300/Configuration.h b/config/examples/delta/Malyan M300/Configuration.h index caeb28fc49..cf4e18e0c8 100644 --- a/config/examples/delta/Malyan M300/Configuration.h +++ b/config/examples/delta/Malyan M300/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Micromake-D1/MKS-Gen-L-V2.1/Configuration.h b/config/examples/delta/Micromake-D1/MKS-Gen-L-V2.1/Configuration.h index 0bc6ba972d..6ed20f9046 100644 --- a/config/examples/delta/Micromake-D1/MKS-Gen-L-V2.1/Configuration.h +++ b/config/examples/delta/Micromake-D1/MKS-Gen-L-V2.1/Configuration.h @@ -1128,17 +1128,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Micromake-D1/RAMPS-1.4/Configuration.h b/config/examples/delta/Micromake-D1/RAMPS-1.4/Configuration.h index df500b30a1..dfb5488a78 100644 --- a/config/examples/delta/Micromake-D1/RAMPS-1.4/Configuration.h +++ b/config/examples/delta/Micromake-D1/RAMPS-1.4/Configuration.h @@ -1129,17 +1129,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Tevo Little Monster/Configuration.h b/config/examples/delta/Tevo Little Monster/Configuration.h index 78a336116a..05b743bbe3 100644 --- a/config/examples/delta/Tevo Little Monster/Configuration.h +++ b/config/examples/delta/Tevo Little Monster/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/Velleman/K8800/Configuration.h b/config/examples/delta/Velleman/K8800/Configuration.h index fb87d3060f..0b5151c18c 100644 --- a/config/examples/delta/Velleman/K8800/Configuration.h +++ b/config/examples/delta/Velleman/K8800/Configuration.h @@ -1140,17 +1140,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/generic/Configuration.h b/config/examples/delta/generic/Configuration.h index 5c20830190..c118916bb6 100644 --- a/config/examples/delta/generic/Configuration.h +++ b/config/examples/delta/generic/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/kossel_clear/Configuration.h b/config/examples/delta/kossel_clear/Configuration.h index f2576dc23a..f3ca2e2a39 100644 --- a/config/examples/delta/kossel_clear/Configuration.h +++ b/config/examples/delta/kossel_clear/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/kossel_mini/Configuration.h b/config/examples/delta/kossel_mini/Configuration.h index c8fb9edd64..f8146f25a4 100644 --- a/config/examples/delta/kossel_mini/Configuration.h +++ b/config/examples/delta/kossel_mini/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/kossel_pro/Configuration.h b/config/examples/delta/kossel_pro/Configuration.h index b6163d6a43..e642d03c2c 100644 --- a/config/examples/delta/kossel_pro/Configuration.h +++ b/config/examples/delta/kossel_pro/Configuration.h @@ -1125,17 +1125,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/delta/kossel_xl/Configuration.h b/config/examples/delta/kossel_xl/Configuration.h index 9cf0e31aad..9838230ac8 100644 --- a/config/examples/delta/kossel_xl/Configuration.h +++ b/config/examples/delta/kossel_xl/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/gCreate/gMax1.5+/Configuration.h b/config/examples/gCreate/gMax1.5+/Configuration.h index 4fc087e180..81ad5544a2 100644 --- a/config/examples/gCreate/gMax1.5+/Configuration.h +++ b/config/examples/gCreate/gMax1.5+/Configuration.h @@ -1126,17 +1126,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/linear_axes/Octopus 8 LINEAR_AXES/Configuration.h b/config/examples/linear_axes/Octopus 8 LINEAR_AXES/Configuration.h index 4e22678c72..e7349fe147 100644 --- a/config/examples/linear_axes/Octopus 8 LINEAR_AXES/Configuration.h +++ b/config/examples/linear_axes/Octopus 8 LINEAR_AXES/Configuration.h @@ -1131,17 +1131,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/linear_axes/RAMPS 5 LINEAR_AXES/Configuration.h b/config/examples/linear_axes/RAMPS 5 LINEAR_AXES/Configuration.h index 356cd12bc3..42f8a06d94 100644 --- a/config/examples/linear_axes/RAMPS 5 LINEAR_AXES/Configuration.h +++ b/config/examples/linear_axes/RAMPS 5 LINEAR_AXES/Configuration.h @@ -1106,17 +1106,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/makibox/Configuration.h b/config/examples/makibox/Configuration.h index b0155f5efe..a3f07efb49 100644 --- a/config/examples/makibox/Configuration.h +++ b/config/examples/makibox/Configuration.h @@ -1122,17 +1122,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar diff --git a/config/examples/tvrrug/Round2/Configuration.h b/config/examples/tvrrug/Round2/Configuration.h index c112330e8d..39ccc3f2f3 100644 --- a/config/examples/tvrrug/Round2/Configuration.h +++ b/config/examples/tvrrug/Round2/Configuration.h @@ -1120,17 +1120,41 @@ #define TPARA_LINKAGE_1 120 // (mm) #define TPARA_LINKAGE_2 120 // (mm) - // TPARA tower offset (position of Tower relative to bed zero position) + // Height of the Shoulder axis (pivot) relative to the tower floor + #define TPARA_SHOULDER_AXIS_HEIGHT 135.0 // (mm) + + // The position of the last linkage relative to the robot arm origin + // (intersection of the base axis and floor) when at the home position + #define TPARA_ARM_X_HOME_POS 28.75 // (mm) Measured from shoulder axis to tool holder axis in home position + #define TPARA_ARM_Y_HOME_POS 0 // (mm) + #define TPARA_ARM_Z_HOME_POS 250.00 // (mm) Measured from tool holder axis to the floor + + // TPARA Workspace offset relative to the tower (position of workspace origin relative to robot Tower origin ) // This needs to be reasonably accurate as it defines the printbed position in the TPARA space. - #define TPARA_OFFSET_X 0 // (mm) - #define TPARA_OFFSET_Y 0 // (mm) - #define TPARA_OFFSET_Z 0 // (mm) + #define TPARA_OFFSET_X 127.0 // (mm) to coincide with minimum radius MIDDLE_DEAD_ZONE_R, and W(0,0,0) is reachable + #define TPARA_OFFSET_Y 0.0 // (mm) + #define TPARA_OFFSET_Z 0.0 // (mm) + + // TPARA tool connection point offset, relative to the tool moving frame origin which is in the last linkage axis, + // (TCP: tool center/connection point) of the robot, + // the plane of measured offset must be alligned with home position plane + #define TPARA_TCP_OFFSET_X 27.0 // (mm) Tool flange: 27 (distance from pivot to bolt holes), extruder tool: 50.0, + #define TPARA_TCP_OFFSET_Y 0.0 // (mm) + #define TPARA_TCP_OFFSET_Z -65.0 // (mm) Tool flange (bottom): -6 (caution as Z 0 posiion will crash second linkage to the floor, -35 is safe for testing with no tool), extruder tool (depends on extruder): -65.0 #define FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly + // Need to invert homing axis order, to avoid tool or linkage crashes + #define HOME_Z_FIRST + #define HOME_Y_BEFORE_X + // Radius around the center where the arm cannot reach - #define MIDDLE_DEAD_ZONE_R 0 // (mm) -#endif + // For now use a hardcoded uniform limit, although it should be calculated, or fix a limit for each axis angle + #define MIDDLE_DEAD_ZONE_R 100 // (mm) + + // Max angle between L1 and L2 + #define TPARA_MAX_L1L2_ANGLE 140.0f // (degrees) +#endif // AXEL_TPARA // @section polar